Scribd
Upload
71 views21 pages

Utilization of Electrical Energy: Chapter 2: Electric Drives L-2-3

1. The document discusses equivalent systems for electric drives with loads involving both rotational and translational motion. It provides equations to calculate the equivalent inertia and torque referred to the motor shaft. 2. Criteria for steady state stability of drives are discussed. The system is stable if the speed deviations decrease over time due to the motor torque exceeding the load torque for speed decreases and being less than the load torque for speed increases. 3. An example problem is solved to obtain the equilibrium points for a given motor and load torque relationship and determine their stability by analyzing the speed-torque curves. One equilibrium point is found to be stable while the other is unstable.

Uploaded by

Frozen Boy
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
71 views21 pages

Utilization of Electrical Energy: Chapter 2: Electric Drives L-2-3

1. The document discusses equivalent systems for electric drives with loads involving both rotational and translational motion. It provides equations to calculate the equivalent inertia and torque referred to the motor shaft. 2. Criteria for steady state stability of drives are discussed. The system is stable if the speed deviations decrease over time due to the motor torque exceeding the load torque for speed decreases and being less than the load torque for speed increases. 3. An example problem is solved to obtain the equilibrium points for a given motor and load torque relationship and determine their stability by analyzing the speed-torque curves. One equilibrium point is found to be stable while the other is unstable.

Uploaded by

Frozen Boy
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 21

UTILIZATION OF ELECTRICAL ENERGY

CHAPTER 2: ELECTRIC DRIVES


L-2-3
Equivalent Systems (Contd....)
B. Loads with translational motion

Jo = M.I. of motor & load which is directly coupled


Tlo = Torque of load directly coupled
m1 = mass of load with translational motion
v1 = velocity of load with translational motion
F1 = resisting force of a load ongoing translation motion
η = efficiency of transmission
P = F*v
Contd......

KE due to equivalent inertia = KE of various moving parts


wm2 = wm2+ 1
2

Jeq = Jo + 1 )2
Similarly, power consumed by equivalent load = sum of power of all loads
∗
Tlwm = Tlowm +
∗
Tl = Tlo + ∗
Example 1

A motor drives two loads, one has a rotational motion. It is coupled to a motor
through a reduction gear with a = 0.1 & efficiency of 90%. The load has moment
of inertia of 10 kgm2 & torque of 10 Nm. The other load has a translational motion
& consists of thousand kg to be lifted up at uniform speed of 1.5 m/s. Coupling
between this load & motor has an efficiency of 85%. Motor has inertia of 0.2 kgm2
& runs at a constant speed of 1420 rpm. Determine the equivalent inertia referred
to the motor shaft & power developed by the motor.
Solution
Solution (Contd....)

Speed of motor = wm = 1420 rpm = rps = *2π rad/s = 148.7 rad/s


1. For equivalent Inertia
KE of equivalent inertia referred to motor shaft = KE of all moving parts
Or, *Jeq*wm2 = *Jm*wm2 + *J1*wm12 + *m*v12
Or, Jeq = Jm + J1( )2 + m( )2
Or, Jeq = Jm + J1*a2 + m( )2
.
Or, Jeq = 0.2 + 10*0.12 + 1000( .
)2
Or, Jeq = 0.401 kgm2
Contd....

2. For equivalent Torque & Power


∗ ∗
TL*wm = +
∗ ∗
Or, TL = + ∗
∗ . ∗ . ∗ .
Or, TL = .
+ . ∗ .
Or, TL = 117.53 Nm
And, equivalent power = TL*wm = 117.53*148.7 = 17.47 kW
Criteria For Steady State Stability

• An accurate & complete study of the problem of stability of drives requires the
solution of the differential equation of the drive system & interpretation of
results obtained.
• In general, it may be said that if the transient portion of the solution to these
equations approaches zero with increasing time, the effects of any disturbance
die away and the system is stable.
• However, in absence of any such complete analysis, considerable insight to the
problem may be gained by a study of the steady state speed torque curves of
both motor & load and assuming all the departures from equilibrium will be
along these curves.
Contd....

We have,
T M = TL + J ....................[1]
Let a small perturbation in speed Δwm results in ΔTM & ΔTL perturbations in TM &
TL respectively. Then,
( Δwm)
TM+ ΔTM = TL +ΔTL + J ..............................[2]
Subtracting [2] from [1]
Δwm
ΔTM = ΔTL + J ...............................[3]
Contd.....

For small perturbation, the speed torque curves of the motor & load can be
considered to be straight lines. Hence,
ΔTM = * Δwm

ΔTL = * Δwm ................................ [4] (T in y axis-w in x axis, y= mx)

Where & are respectively slopes of the speed torque curves of motor &
load at operating points under consideration.
Substituting [4] in [3],
Δwm
J = * Δwm - * Δwm
Contd.....
Δwm
Or, J + ( ) Δwm = 0
Δwm
Or, + ( ) Δwm = 0.......................[5]

First Order Linear Differential Equation


+ P(x)*y = Q(x)
𝑥
∫ 𝑃 𝑑𝑥
To solve multiply both sides by e & integrate.
For + P(t)*x = 0

− ∫ 𝑃 𝑡 𝑑𝑡
x(t) = C* e
Contd....

The solution of equation [5] then would be,

( − )dt
Δwm = C * e-∫
−
Or, Δwm = C* e- ( )t

If initial deviation in speed at t=0 be Δwm)o then


C = Δwm)o
Then the final solution of equation [5] would be,
−
Δwm = Δwm)o * e- ( ) t.................................[6]
Contd.....

In order that the system is stable it is necessary that the exponent be negative, so
that the deviations will disappear with time. Under these conditions, the system
will return to its equilibrium speed.
Whereas, if the exponent be positive, the speed deviation will increase with time &
the system will move away from the equilibrium.
If the exponent is exactly equal to zero the equation is insufficient to discuss the
stability.
The exponent will be negative if,
>0
Contd....

>0
This is equivalent to say that for a decrease in speed the motor torque must exceed
the load torque & for an increase in speed the motor torque must be less than the
load torque.
Examples

T Tl

Tm

For increase in speed about equilibrium, load torque is greater than motor torque
hence drive decelerates and has the capability to return back to equilibrium state.
Examples
T Tm

Tl

For increase in speed about equilibrium, motor torque is greater than load torque
and hence the drive further accelerates and does not have the capability to return
back to equilibrium state.
Example-2

A drive has following equation for motor & load torque


T = (1+2wm) & TL = 3
Obtain the equilibrium points & determine their steady state stability.
Example-2
A drive has following equation for motor & load torque
T = (1+2wm) & TL = 3
Obtain the equilibrium points & determine their steady state stability.
Solution:
At equilibrium,
T = TL
Or, 1+2wm = 3
Squaring both sides and arranging,
4wm2-5wm+1 = 0
On solving,
wm = 1 rad/s & 0.25 rad/s
Contd.....
Contd.....

wm 0 4 9 4 9
TL 0 6 9 -6 -9

At A, wm = 0.25 rad/s & T=1.5 Nm


The equilibrium point is stable.
At B, wm = 1 rad/s & T = 3 Nm
The equilibrium point is unstable.
End of L-2-3

You might also like