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Systems employed for motion control are called drives and

may employ any one of the prime movers such as diesel, gas,
hydraulic and electric motor for supplying mechanical energy
for motion control.

Drives employing electric motor are known as electric

drives.
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•They are adaptable to almost any operating conditions such as

explosive and radioactive environments .

•It can operate in all the four quadrants of speed-torque plane

•They can be started instantly and can immediately be fully

loaded.

•Control gear requirement for speed control, starting and

braking is usually simple and easy to operate.
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•Flexible control characteristics.

•Steady state and dynamic characteristics of electric drives can

be shaped to satisfy the load requirements.

•Drives can be provided with automatic fault detection systems.

Programmable logic controller and computers can be employed
to automatically control the drive operations in a desired
sequence.

•They are available in wide range of torque, speed and power.

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•Steel Rolling mills

•Automotive applications
•Cement, paper, pulp and textile mills
•Conveyors, elevators, escalators and lifts
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Block diagram for Electric Drive

POWER
SOURCE MOTOR LOAD
MODULATOR

CONTROL SENSING
INPUT
UNIT UNIT
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•Modulates flow of power from the source to the motor in

such a manner that motor is imparted speed-torque
characteristics required by the load.

•During transient operation, such as starting, braking and

speed reversal, it restricts source and motor currents with
in permissible limits.

•It converts electrical energy of the source in the form of

suitable to the motor.

•Selects the mode of operation of the motor (i.e.) Motoring

and Braking.
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Size of motor
Horsepower ranges differ depending on type of motor. 

Shaded-pole motors range from 1 /500 to ½ hp,

split-phase motors range from 1 /20 to ¾ hp
capacitor-start motors range from 1 /8 to 10 hp
three-phase motors range from ¼ to 500 hp or larger.
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GROUP MOTOR DRIVE:

Advantages?

Disadvantages???
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INDIVIDUVAL MOTOR DRIVE:

Advantages?

Disadvantages???
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Continuous Duty –
Motor operates at constant load torque for a
duration long enough for the motor temperature to

reach steady state.

Ex: Conveyors, fans etc.,

Short Time Duty –

Motor operates at constant load torque for a short
duration
Ex: Drives for house hold appliances

Intermittent periodic Duty –

It consists of periodic duty cycles, each consisting of
a period of running at a constant load and a rest period.
Ex: Pressing, cutting and drilling machine drives.
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Fundamental Torque equations:

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Fundamental Torque equations:

Load Torque

Motor Angular
Torque Moment of
Acceleration
Inertia
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Tw
Tc

Ts

Tv
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Active torques:

Load torque which have the potential to drive the

motor under equilibrium condition are called active load
torques.

Such load torques usually retains their sign when the

direction of the drive rotation is changed.

Torques due to either gravitational force or deformation in

elastic bodies, come under this category.

Ex: Hoists, lifts or elevators and railway locomotives

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Passive torques:

Load torques which always oppose the motion and

change their sign on the reversal of motion are called passive
load torques.

Such torques is due to friction, windage, cutting etc.

Ex: lathes, fan, pumps etc.

 CONSTANT TORQUE TYPE LOAD

 Applications: Cutting, grinding, shaping.

 TORQUE PROPORTIONAL TO SPEED

 Applications: Generator type load

 TORQUE PROPORTIONAL TO SQUARE OF THE SPEED

 Applications: Fans, rotary pumps, compressors and ship

propellers.
 TORQUE INVERSELY PROPORTIONAL TO SPEED

 Applications: Lathes, Boring machines, Milling machines, steel mill

coiler and electric traction load exhibit hyperbolic speed-torque
characteristics.
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FOUR QUADRANT OPERATION OF A

MOTOR DRIVING A HOIST LOAD
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ωm

II I

Forward Braking Forward motoring

-T T

III IV

Reverse Motoring Reverse Braking

-ωm
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Forward Motoring
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Forward Braking
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Reverse Motoring
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Reverse Braking
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ωm

II I

-T T

III IV

-ωm
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•STEADY STATE STABILITY

•TRANSIENT STATE
STABILTY
 
STEADY STATE STABILITY
Changes from the state of equilibrium takes place slowly
and the effect of either the inertia or the inductance is
insignificant .

 
TRANSIENT STATE STABILITY
Sudden and fast changes from the equilibrium state so
effect of both inertia and inductance can not be neglected
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System is said to be in stable

ωm
Tm
TL

TL T
Tm
Tm
TL
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System is said to be in ______

ωm

T
Tm
TL
TL
Tm
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ωm

System is said to be in ______

T Tm TL
Tm
TL
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Acceleration:
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Deceleration:
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BRAKING:

Mechanical braking:
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Braking:

The motor works as a generator developing a negative torque

which opposes the motion.

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Motor Duty Class and its Classification

Now a days, in almost every applications, electric motors are used, and to
control them electrical drives are employed.
But the operating time for all motors are not the same. Some of the motors
runs all the time, and some of the motor’s run time is shorter than the rest
period.
Depending on this, concept of motor duty class is introduced and on the
basis of this duty cycles of the motor can be divided in eight categories such
as
1.Continuous duty
2.Short time duty
3.Intermittent periodic duty
4.Intermittent periodic duty with starting
5.Intermittent periodic duty with starting and braking
6.Continuous duty with intermittent periodic loading
7.Continuous duty with starting and braking
8.Continuous duty with periodic speed changes
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Continuous Duty:
This duty denotes that, the motor is running long enough and the electric motor
temperature reaches the steady state value. These motors are used in paper
mill drives, compressors, conveyors etc.
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SELECTION OF POWER RATING OF MOTORS

 
From the point of view of motor rating for various duty cycles in section 1.6 can be broadly classified as:
Continuous duty and constant load
Continuous duty and variable load
Short time rating
 
1. Continuous duty and constant load
 
If the motor has load torque of T N-m and it is running at ω radians/seconds, if efficiency in η , then power
rating of the motor is    

Power rating is calculated and then a motor with next higher power rating from commercially available rating
is selected.
Obviously, motor speed should also match load's speed requirement .It is also necessary to check whether the
motor can fulfill starting torque requirement also.
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2. Continuous duty and variable load

 
The operating temperature of a motor should never exceed the maximum permissible temperature, because
it will result in deterioration and breakdown of insulation and will shorten the service life of motors.
It is general practice to base the motor power ratings on a standard value of temperature, say 35 ⁰ C.
Accordingly, the power given on the name plate of a motor corresponds to the power which the motor is
capable of delivering without overheating at an ambient temperature of 35 ⁰ C. the duty cycle is closely
related to temperature and is generally taken to include the environmental factors also.
The rating of a machine can be determined from heating considerations.
However the motor so selected should be checked for its overload capacity and starting torque.
This is because, the motor selected purely on the basis of heating may not be able to meet the mechanical
requirements of the basis of heating may not be able to meet the mechanical requirements of the load to be
driven by it.
 
        The majority of electric machines used in drives operate continuously at a constant or only slightly
variable load.
 
         The selection of the motor capacity for these applications is fairly simple in case the approximate
constant power input is known
 
        In many applications, the power input required for a motor is not known before hand and therefore
certain difficulties arise in such cases.
 
        For the determination of ratings of machines whose load characteristics have not been thoroughly
studied, it becomes necessary to determine the load diagram i.e., diagram shown the variation of power
output versus time.
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On the other hand it is not correct to select the motor according to the lowest or highest load because
the motor would be overloaded in the first case and under loaded in the second case. Therefore it
becomes necessary to adopt suitable methods for the determination of motor ratings.
 
Methods used
 
The four commonly used methods are:
1        Methods of average losses
 
2        Equivalent current method
 
3        Equivalent torque method
 
4        Equivalent power method
 
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3. Short time rating of motor

An electric motor of rated power P r subjected  to its rated load continuously reaches its permissible
temperature rise after due to time. If the same motor is to be used for short time duty, it can take up more
load for a short period without increasing the maximum permissible temperature of the motor during this
period.
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Discussion Questions:

Tm > TL - ??

Tm< TL – ??

Tm = TL – ??
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See the below picture and tell what type of electrical braking is
employed here?
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In which braking back emf exceeds supply voltage?

A. Pneumatic braking
B.  Plugging
C.  Dynamic braking
D.  Regenerative braking
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Identify the types of load torques

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Whether Forward motoring operation take place or

not?
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Discussion Questions:

Find out the missing terms.

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Discussion Questions:

The basic elements of an electric drive are --------

A. electric motor
B. control system
C. electrical motor and control system
D. None of the above
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Discussion Questions:

Match of the following:

Individual drive - single motor - many drive

Group drive - many motor - single drive
Multi-motor drive - single motor - single drive
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Discussion Questions:

2 3
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Find out the missing terms