Characteristics of Electric Drives: Subject Name: Electric Drives Class: 4 Year/ VII Semester
Characteristics of Electric Drives: Subject Name: Electric Drives Class: 4 Year/ VII Semester
Characteristics of Electric Drives: Subject Name: Electric Drives Class: 4 Year/ VII Semester
3.Electric Drives-Introduction
An Electric Drive can be defined as, a system which is used to control the
movement of an electrical machine. This drive employs a prime mover such as a
petrol engine, otherwise diesel, steam turbines otherwise gas, electrical &
hydraulic motors like a main source of energy.
These prime movers will supply the mechanical energy toward the drive for
controlling motion.
An electric drive can be built with an electric drive motor as well as a
complicated control system to control the motor’s rotation shaft.
At present, the controlling of this can be done simply using the software. Thus, the
controlling turns into more accurate & this drive concept also offers the ease of
utilizing.
The types of electrical drives are two such as a standard inverter as well as a servo
drive. A standard inverter drive is used to control the torque & speed. A servo
drive is used to control the torque as well as speed, and also components of the
positioning machine utilized within applications that need difficult motion.
Power Source
The power source in the above block diagram offers the necessary energy for the
system. And both the converter and the motor interfaces by the power source to
provide changeable voltage, frequency and current to the motor.
Power Modulator
This modulator can be used to control the o/p power of the supply. The power
controlling of the motor can be done in such a way that the electrical motor sends
out the speed-torque feature which is necessary with the load. During the
temporary operations, the extreme current will be drawn from the power source.
The drawn current from the power source may excess it otherwise can cause a
voltage drop. Therefore the power modulator limits the motor current as well as the
source.
The power modulator can change the energy based on the motor requirement. For
instance, if the basis is direct current & an induction motor can be used after that
power modulator changes the direct current into alternating current. And it also
chooses the motor’s mode of operation like braking otherwise motoring.
Load
The mechanical load can be decided by the environment of the industrial process &
the power source can be decided by an available source at the place. However, we
can choose the other electric components namely electric motor, controller, &
converter.
Control Unit
The control unit is mainly used to control the power modulator, and this modulator
can operate at power levels as well as small voltage. And it also works the power
modulator as preferred. This unit produces the rules for the safety of the motor as
well as power modulator. The i/p control signal regulates the drive’s working point
from i/p toward the control unit.
Sensing Unit
The sensing unit in the block diagram is used to sense the particular drive factor
such as speed, motor current. This unit is mainly used for the operation of closed
loop otherwise protection.
Motor
The electric motor intended for the specific application can be chosen by believing
various features such as price, reaching the level of power & performance
necessary by the load throughout the stable state as well as active operations.
Usually, these are classified into three types such as group drive, individual drive,
and multi-motor drive. Additionally, these drives are further categorized based on
the different parameters which are discussed below.
Electrical Drives are classified into two types based on supply namely AC
drives & DC drives.
Electrical Drives are classified into two types based on running speed namely
Constant speed drives & changeable speed drives.
Electrical Drives are classified into two types based on a number of motors
namely Single motor drives & multi-motor drives.
Electrical Drives are classified into two types based on control parameter
namely stable torque drives & stable power drives.
This drive cannot be used where the power supply is not accessible.
The power breakdown totally stops the entire system.
The primary price of the system is expensive.
The dynamic response of this drive is poor.
The drive output power which is obtained is low.
By using this drive noise pollution can occur.
The main application of this drive is electric traction which means transportation
of materials from one location to another location. The different types of electric
tractions mainly include electric trains, buses, trolleys, trams, and solar-powered
vehicles inbuilt with battery.
Electrical drives are extensively used in the huge number of domestic as well as
industrial applications which includes motors, transportation systems, factories,
textile mills, pumps, fans, robots, etc.
These are used as main movers for petrol or diesel engines, turbines like gas
otherwise steam, motors like hydraulic & electric.
Thus, this is all about the fundamentals of electrical drives. From the above
information, finally, we can conclude that a drive is one kind of electrical device
used to control the energy which is sent to the electrical motor. The drive supplies
energy to the motor in unstable amounts & at unstable frequencies, thus ultimately
controls the speed and torque of the motor.
If several groups of mechanisms or machines are organised on one shaft and driven
or actuated by one motor, the system is called a group drive or shaft drive.
The various mechanisms connected may have different speeds. Hence the shaft is
equipped with multi stepped pulleys and belts for connection to individual loads. In
this type of drive a single machine whose rating is smaller than the sum total of all
connected loads may be used, because all the loads may not appear at the same
time. This makes the drive economical, even though the cost of the shaft with
stepped pulleys may seem to be high.
This method is rarely used in modern drive systems and has become of historical
interest, because of the following disadvantages:
1. The efficiency of the drive is low, because of the losses occurring in several
transmitting mechanisms.
2. The complete drive system requires shutdown if the motor requires servicing
or repair
3. The location of the mechanical equipment being driven depends on the shaft
and there is little flexibility in its arrangement.
4. The system is not very safe to operate.
5. The noise level at the work spot is high.
If a single motor is used to drive or actuate a given mechanism and it does all the
jobs connected with this load, the drive is called an individual drive. For example,
all the operations connected with operating a lathe may be performed by a single
machine. If these operations have to be performed at different speeds, transmission
devices may be required. The efficiency may become poor over several operations,
due to power loss. In some cases it is possible to have the drive motor and
driven load in one unit.
Torque Equation of Motor Load System of Fig. 2.1 can be described by the
following fundamental torque equation:
Equation (2.1) is applicable to variable inertia drives such as mine winders, reel
drives, industrial robots. For drives with constant inertia, (dJ/dt) = 0. Therefore
equation (2.2) shows that torque developed by motor is counter balanced by a load
torque T1 and a dynamic torque J(dω m/dt). Torque component J(dω m/dt) is called
the dynamic torque because it is present only during the transient operations.
During deceleration, dynamic torque J(dω m/dt) has a negative sign. Therefore, it
assists the motor developed torque T and maintains drive motion by extracting
energy from stored kinetic energy.
Let the machine, which is assumed to be a homogeneous body, and the cooling
medium has following parameters at time t:
τ, which has the dimension of time, is known as the heating (or thermal) time
constant of the machine. In Eq. (4.9) as t = ∞, θ = θ ss. Thus θss is the steady state
temperature of the machine when it is continuously heated by power P1. At this
temperature, all the heat produced in machine is dissipated to the surrounding
medium.
Let the load on machine be thrown off after its temperature rise reaches a value θ 2.
Heat loss will reduce to a small value P′ 1 and cooling operation of the motor will–
begin. Let the new value of heat dissipation constant be D′. If time is measured
from the instant the load is thrown off, then
Solving this first order differential equation subjected to the initial condition, θ =
θ2 at t = 0, gives
θ′ss is again steady state temperature rise for new conditions of operation and τ′ is
known as the Cooling (or thermal) Time Constant of the machine.
If motor were disconnected from the supply during Heating and Cooling Curves of
Electrical Drives then P′ 1 = θ′ss = 0, suggesting that the final temperature attained
by the motor will be ambient temperature. Substituting in Eq. (4.11) gives
Eqs. (4.9) and (4.14) suggest that both heating time constant τ and cooling time
constant τ′ depend on the respective heat dissipation constants D and D′, which in
turn depend on the velocity of cooling air.
In self cooled motors, where cooling fan is mounted on motor shaft, the velocity of
cooling air varies with motor speed, thus varying cooling time constant τ′. Cooling
time constant at standstill is much larger than when running. Therefore, in high
performance, and medium and high power variable speed drives, motor is always
provided with separate forced cooling, so that motor cooling be independent of
speed.
Figure 4.1 shows the variation of motor temperature rise with time during Heating
and Cooling Curves of Electrical Drives. Thermal time constants of a motor are far
larger than electrical and mechanical time constants. While electrical and
mechanical time constants have a typical range of 1 to 100 ms and 10 ms to 10 s,
the thermal time constants may vary from 10 min to couple of hours.
3.6 Classes of Motor Duty in Electrical Drives:
IS: 4722-1968 categorise various load time variations encountered in practice into
eight standard Classes of Motor Duty in Electrical Drives:
1. Continuous duty.
1. Continuous Duty:
It denotes the motor operation at a constant load torque for a duration long enough
for the motor temperature to reach steady-state value. This duty is characterised by
a constant motor loss. Paper mill drives, compressors, conveyers, centrifugal
pumps and fans are some examples of Classes of Motor Duty in Electrical Drives.
2. Short Time Duty:
In this, time of drive operation is considerably less than the heating time constant
and machine is allowed to cool off to ambient temperature before the motor is
required to operate again. In this operation, the machine can be overloaded until
temperature at the end of loading time reaches the permissible limit. Some
examples are: crane drives, drives for household appliances, turning bridges,
sluice-gate drives, valve drives, and many machine tool drives for position control.
This is intermittent periodic duty where heat losses during starting cannot be
ignored. Thus, it consists of a period of starting, a period of operation at a constant
load and a rest period; with operating and rest periods, being too short for the
respective steady-state temperatures to be attained.
This is the intermittent periodic duty where heat losses during starting and braking
cannot be ignored. Thus, it consists of a period of starting, a period of operation
with a constant load, a braking period with electrical braking and a rest period;
with operating and rest periods being too short for the respective steady state
temperatures to be attained.
Billet mill drive, manipulator drive, ingot buggy drive, schrewdown mechanism of
blooming mill, several machine tool drives, drives for electric suburban trains and
mine hoist are some examples of this duty.
Consists of periodic duty cycle, each having a period of running at one load and
speed, and another period of running at different speed and load; again both
operating periods are too short for respective steady-state temperatures to be
attained. Further there is no period of rest.
4. MCQ POST-TEST
1. What is heating time constant of the machine?
a) The ratio of the thermal capacity and heat dissipation constant value
b) The ratio of the thermal capacity and heat dissipation constant value
c) The ratio of the thermal capacity and heat dissipation constant value
d) The ratio of the thermal capacity and heat dissipation constant value
Ans: a
Ans : c
5.CONCLUSION
6.REFERENCES
1. Pillai S.K., “A First Course on Electrical Drives”, New Age International Publishers,
2nd Edition, 1994.
3. Sen P.C, Thyristor - DC Drives, John Wiley & Sons, New York, 1981.
4. Bose B.K, “Power Electronics and AC Drives”, Prentice Hall, Englewood cliffs, New
Jersey, 1986.
Answer d.
Fleming’s left-hand rule.
4. Choppers converts
a) AC to DC
b) DC to AC
c) DC to DC
d) AC to AC
Answer c.
DC to DC
3.PRE-REQUESTIES
1.DC Motors
2.Power Electronics
4.1.DC Drives
DC motors are widely used in adjustable-speed drives and position control
applications. Speed control methods of DC motors are comparatively less
expensive than AC motors.
There are two methods to control the speed of DC motors:
1. Armature voltage control method
2. Field-flux control method
Armature voltage control method: Speeds below base speed are controlled.
Field-flux control method: Speeds above base speed are obtained
Depending on the type of available source and converters DC drives are
classified as:
1. Single-phase DC drives
2. Three-phase DC drives
3. Chopper fed DC drives
4.2.Basic performance equation of Separately –excited DC motor
The equivalent circuit of a Separately –excited DC motor coupled with a load is
shown in Fig.2. Under steady state conditions load torque T L oppose the motor
torque Te.
Base speed of the motor is defined as the speed at which the motor runs at its
rated voltage, rated armature current and rated field current.
(1) Armature voltage control : armature voltage (Vt) is varied to obtain the
speed below base speed. The armature current and field flux (Φ) are kept
constant at their rated values. From equation (5), it is seen that when I a
and Φ are constant the torque remains constant at its rated value to meet
the required demand. So this armature voltage control method is known as
constant-torque drive method The armature voltage (Vt) is varied from
its zero voltage to rated voltage the power P= V t . Ia increases from its
zero value to rated power.
(2) Field-flux (Φ) control: this method of speed control is employed for the
speeds above base speed. From equation (4) it is seen that speed and field
flux are inversely proportional. During flux control method, armature
voltage and armature current are kept constant at rated values. So power
remains constant and this method of control is termed as constant power-
drive method. Field flux is decreased to increase the speed above base
speed, the torque is directly proportion to flux so torque decreases with
decrease in flux.
Full converter fed DC drives offers two quadrant operation of the drive, first
quadrant operation is the motoring mode and second quadrant operation is
the regenerative braking of the motor. Fig.5. shows the two- quadrant
diagram.
The motoring mode control is the first quadrant operation. During this mode,
armature voltage is controlled by controlling the firing angle(α) of the
armature side converter. The firing angle(α) can be varied from 0º to 90º for
rectification of AC voltage into DC voltage and the output DC voltage of the
converter can be varied from its maximum value to zero value. Thus the
voltage fed to the armature is controlled varying the firing angle of the
converter.
During regenerative braking control power must flow from motor to the AC
source. This is possible only when the back emf of the motor is reversed.
The SCRs present in the full converters are unidirectional devices so polarity
of the back emf is reversed by reversing the direction of field current by
making the firing angle(α1) above 90º for the field side converter.
Fig.4. Single-phase full converter fed Separately excited DC motor
Fig.6.Waveforms
The output voltage of the armature circuit converter 1,
Vo = Vt = 2V m/π cos α for 0 ≤ α ≤ π ……..(6)
Vf = 2V m/π cos α 1 for 0 ≤ α1 ≤ π ……..(7)
4.4.DC Chopper fed DC Drives
Chopper circuit converts fixed DC voltage into variable DC voltage. Chopper
circuit can be interfaced between fixed DC voltage source and DC motor
armature circuit. By varying the duty cycle(δ) of the DC chopper, variable
voltage can be applied to the armature terminals of the DC motor to obtain the
speed control below the speed.
Chopper circuit is adoptable for regenerative braking of DC motor and kinetic
energy can be returned to the DC source. Choppers can be used for dynamic
braking also.
The following controlled modes are explained in detail.
1.Power control or motoring control.
2.Regenerative –braking control.
4.4.1.Power control or motoring control
The Fig.7. shows the circuit for motoring control of Chopper fed DC series
motor which is the first quadrant operation. By modifying chopper circuit
configuration all four quadrant operation of DC motor drive is possible.
Chopper fed DC drives are widely employed in traction systems.
In the above circuit configuration when the chopper (CH) is ON, the motor
armature terminal is connected with the DC source. The current is conducted by
the chopper from source to armature of the DC motor. The output voltage of
chopper VO = Vt is fed to the motor armature. I o=Ia is chopper output current
flows through the armature winding. R and L are the armature winding output
voltage of the chopper is controlled by varying the duty cycle(δ) according to
the speed requirement.
When the chopper is OFF and the CH operates like an open switch, the motor
armature terminals are disconnected from the DC source. Now the stored
energy in the inductance and back emf of the motor drives the armature current
through the freewheeling diode FD. During this period rmature terminals are
short circuited by FD. Now the output voltage VO = 0 , but Io flows through
armature circuit continuously.
The average motor voltage , VO = V t = Ton/T .Vs = δ. Vs
Where Vs is the input DC voltage
And δ = Ton/T, is the duty cycle of the chopper, T on is the ON time of the
chopper, Toff is OFF time of the chopper, T is the total time period.
T = Ton + Toff
Chopping frequency of the circuit is, f = 1/T
The duty cycle δ can be varied by varying the ON time and OFF time of the
chopper. Thus the output voltage and in-turn speed of the DC motor drive is
controlled during the motoring mode operation to obtain the speeds below base
speed.
The input fixed DC voltage , output DC voltage and output currents are shown
by waveforms in Fig.9.
The input fixed DC voltage , output DC voltage and output currents are shown
by waveforms in Fig.9. The ON time and OFF time of chopper also indicated
in the waveforms given.
Fig.9. Waveforms
Fig.12.Waveforms
5.1Simulation of DC drives
5.1.1. Converter fed DC drive is simulated using PSIM.
5.1.2. Simulation results
The simulation results are presented interms of converter input AC voltage, DC
output voltage of converter, output current, Motor torque and speed waveforms.
5.2.Applications of DC drives:
Traction systems, Electric locomotives.
Paper mills
Lathes, milling machines, boring machines
Hoists and Cranes
Spindles and feeds of machine tools
Roller mills
Rubber mixers
Motor braking systems
Position control mechnisms
6. MCQ POST-TEST
1.To save energy during braking-----------------braking is used?
(A) dynamic
(B) plugging
(C) regenerative
(D) all of the above
Answer:
(C) regenerative
Answer:
(B) two
Answer:
(c)
7.CONCLUSION
8.REFERENCES
1. Pillai S.K., “A First Course on Electrical Drives”, New Age International Publishers,
2nd Edition, 1994.
2. Vedam Subrahmanyam, “Thyristor Control of Electric Drives”, Tata McGraw Hill
Publishing company Ltd., New Delhi, 1994.
3. Sen P.C, Thyristor - DC Drives, John Wiley & Sons, New York, 1981.
4. Bose B.K, “Power Electronics and AC Drives”, Prentice Hall, Englewood cliffs, New
Jersey, 1986
5. Ramamoorthy M., “An Introduction to Thyristor and their Application”, Affiliated
East West Press (P) Ltd, 2nd Edition , 1991.
6.P.S.Bimbhra, ‘Power Electronics”, Khanna Publishers, fifth edition-2012.
9.ASSIGNMENTS