Chapter Two
Dynamics of Electric drive System
Drive systems mechanics
Two types of mechanical
systems are
encountered in electric drives:
mechanical systems in translational
(or linear) and
mechanical systems in rotational
motions.
Examples of translational motion are
hoists, electric trains and electric jack
Examples of rotational motion
are fans, pumps and
compressors.
In the translational and
rotational motions, we have the
following basic mechanic
equations:
Translational motion Rotational motion
Force due to acceleration = mass x Torque due to acceleration =
acceleration moment of inertia x angular
acceleration
Work done = force x distance Work done = torque x angular
displacement
Power = force x speed Power = torque x angular speed
Kinetic energy = ½ x mass x [speed]2 Kinetic energy = ½ x moment of
inertia x [angular speed]2
Example 1
A crane lifts a mass of 272 kg to a height of
61 m in 15 s. Calculate the power in kW.
Solution
Force required = 272 x 9.8 = 26665.6 N
Speed at which the body is lifted = 61/15 =
4.06 m/s
Power developed = 2665.6 x 4.06 = 10.84
kW
Example 2
A car engine develops a torque of 600 Nm at
a speed of 4000 rev/min. Calculate the
power output in kW.
Solution
2 4000 3
Power 600 10 251 kW
60
Mechanical Loads
There are two types of loads:
active and
passive loads.
Active loads
They are due to gravitational pull or
deformation of elastic bodies e.g.
springs.
They are unidirectional, independent
of direction of motion of the drive.
Examples of driven equipment
presenting active load are hoists, lifts
(elevators), trains operating on
gradient hill.
Passiveloads
They are due to friction, shear and
deformation in inelastic bodies.
They always oppose motion.
Examples are lathes, fans and pumps.
The speed of a drive is determined
by the characteristic of the motor as
well as that of the mechanical load.
Mechanical loads have a wide range
of speed-torque characteristics.
In practical drives, loads may
consist of a combination of the
following basic loads in varying
proportions:
Active load: Torque is independent of speed.
This is seen in hoist and vehicle drives
Dry or coulomb friction:
It is nearly independent of speed.
This friction at zero or near zero speed
called sticking friction can be far greater
than the sliding friction.
We observe this in bearings (no
lubricant), gears and brakes.
Forces when cutting or milling material
contains coulomb type friction
Viscous friction:
Torque is proportional to speed
Examples are eddy current brakes,
separately excited generator feeding fixed
resistance load, fluid friction, well lubricated
bearings.
Fan type load:
T=k x speed2
Examples are fans, blowers, centrifugal
pumps, propellers in ships or planes, pipe
friction, velocity head of pumps
Constant power load:
Power is approximately constant
Examples are boring machines,
winders (coilers) and rotary cutting
machines, grinding, metal drawing,
crushing, shearing (where
deformation of material is involved)
Quadrantal Diagram of Speed-Torque
Characteristic
A drive motor may be operated in either
direction and its torque may be reversed for
braking.
When drawing speed-torque characteristics
of motors or loads, it is preferable to use all
four quadrants rather than quadrant one alone.
This diagram is referred to as quadrantal
diagram.
The speed is taken to be positive if drive or
motor moves in the forward direction or
upward.
Motor torque and load torque are assigned
the same sign as that of the speed if they
aid and oppose motion respectively if not
they are assigned the opposite sign.
Itfollows that the load torque and the
motor torque have the same sign if they are
directed against each other.
The speed-torque characteristics of dc
separately excited motor and the
basic loads for four-quadrant
operation
Equation of motion
Motor and its driven load can be
represented as:
motor load
TL
ω
Te
Fig. 2.4 Motor-load system
Itis assumed that coupling between the
different parts of the drive is stiff.
Thebasic torque equation for the system
under dynamic conditions known as
equation of motion is
d ( J )
Te TL
dt
where
Te = motor torque,
TL = load torque and
J = moment of inertia of the drive
system
The moment of inertia of some
drives such as centrifuges or reeling
drives varies with motion.
In most drives however, the
moment of inertia is constant.
For a constant moment of inertia, the
equation of motion becomes
d
Te TL J
dt
For
d
(i) T e TL , 0 and drive accelerates.
dt
d
(ii) T e TL , 0 and drive decelerates.
dt
d
(iii) T e TL , 0 and drive will continue to
dt
run at the same speed if it were running or will
continue to be at rest, if it were not running.
At starting Te must be greater than TL.
Effect of gearing
Some loads are not directly coupled to the
motor shaft because they operate at
different speeds.
Speed changing mechanisms such as
gears and v-belts are used to match the
speed of the drive motor to that of the
load.
For these loads it is still desirable to refer
all mechanical quantities to the output
shaft of the motor.
Equivalent load torque:
Let m = motor speed and L = load speed
Then equating powers, we obtain
TLeqm TL L
L 1 TL
TLeq TL
m i
where
TL = load torque
TLeq = load torque referred to the motor shaft
m
i = coupling or gear ratio
L
= efficiency of transmission
Equivalent load torque:
In the case where the stages of
transmission are many:
J1, ω1
J2, ω2
Jm, ωm Jn, ωn
TL
1 1
TLeq TL
i1i2 ....in 1 2 ..... n
m 1 2
Where i1 , i2 , i3 ,… and
1 2 3
J1, J2, ---- Jn are the moments of
inertia of the different shafts running
at speeds ω1, ω2, ……, ωn respectively.
