Understanding Mechanical System Requirements: © 2000 HTTP://WWW - Ece.umn - Edu/groups/electricdrives

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Chapter 2

Understanding Mechanical
System Requirements

© 2000 http://www.ece.umn.edu/groups/electricdrives
2-1

Motivation
o How can the ASD accelerate and decelerate the load to
give desired speed profile

ASD Load
wL

w L ( rad / sec )
desired speed profile
100

0 1 2 3 4 5 6 7 t ( sec )

© 2000 http://www.ece.umn.edu/groups/electricdrives
2-2

Systems With Linear Motion


fe fL
M fM M
Þ
x
dx du f - fL
u= ; a= = e u=
dx
; a=
du f
= M
dt dt M dt dt M

u Figure on left includes load force, f L , that must be overcome


u Figure on right shows only the force, f M , available to accelerate
the mass, M
Accelaration Power Input Kinetic energy
f -f f 1
a= e L = M Pe (t ) = f e × u = f M × u + f L × u WM = Mu 2
M M 2

© 2000 http://www.ece.umn.edu/groups/electricdrives
2-3

Rotating Systems
f f

90 o

M b
r
torque
q Mg
q

u Torque = force radius


[ Nm ] [N ] [m]

u Example: what torque is needed to hold M motionless

© 2000 http://www.ece.umn.edu/groups/electricdrives
2-4

o Torque in an electric drive


w
Tem TL Load
Motor

u Tem electromagnetic torque produced by motor


u Tem is opposed by load torque, TL
u The difference,Tem - TL = TJ , will accelerate the system
u d w Tem - TL TJ
= =
dt J J

where J is the moment of inertia

© 2000 http://www.ece.umn.edu/groups/electricdrives
2-5

Calculation of Moment of Inertia J


of a Uniform Cylinder
dr dl
l
rdq
df
r dM

r1 w dq
q

d dM = r rd
{ q dr
{ d{l
d f = dM v arc height length
dt
d d
Þ dT = r 2 dM w = r ( r 3 dr dq d l ) w
dt dt
r1 2p l d p d
3
T = r ( ò r dr ò dq ò d l ) w = ( r l r14 ) w
0 0 0 dt 124243 dt
J
p 1
J solid = r l r14 = M r12
2 2

© 2000 http://www.ece.umn.edu/groups/electricdrives
2-6

Accelaration, Speed and Position, Power and


Energy

wm Tem + TJ 1 a wm q
Tem TL Load S J eq ò ò
Motor -
TL

dw m 1 TJ
acceleration , a = = (Tem -TL ) =
dt ( J m+ J L ) J eq

w m (t ) = w m (0 ) + ò0 a (t ) dt
t
Þ speed ,

Þ position , q (t ) = q (0 ) + ò0 w (t ) dt
t

Power Pem = Tem ×w m ; PL = TL ×w m


1
Kinetic Energy W = J w 2
2
© 2000 http://www.ece.umn.edu/groups/electricdrives
2-7

Frictional Torque
coloumb
Tf friction

ì T f = Bw
stiction í
viscous friction
î
0 w
ü
ý stiction
þ
coloumb
friction

u Stiction: static component


u Coulomb friction: dynamic component (constant magnitude)
u Viscous friction: speed dependent
u In general friction is non-linear

© 2000 http://www.ece.umn.edu/groups/electricdrives
2-8

o Example: Aerodynamic drag


Drag power at different speeds

f L = 0.046 Cw Av 2 ; (Cw : drag coefficient)


p = f L ×u
\ power a speed 3

Power (W)
Speed
(km/h)
Cw = 0.3 Cw = 0.5
50 0.86 kW 1.44 kW
100 6.9 kW 11.5 kW
150 23.3 kW 38.8 kW

© 2000 http://www.ece.umn.edu/groups/electricdrives
2-9

Torsional Resonances
wm wL
TL Load
Motor Tem
Tshaft
JL
Jm
d wm
At motor end Tshaft = Tem - J m
dt
d wL
At load end Tshaft = TL + J L
dt
Tshaft
(q m - q L ) =
K
q m and q L :angular rotation at the two ends of the shaft
u If K ® ¥ , q m = q L
( J M and J L can be treated as one inertial mass )
u Finite K may lead to resonances
© 2000 http://www.ece.umn.edu/groups/electricdrives
2-10

Mechanical - Electrical Analogy

• Torque • Current
• Angular Velocity • Voltage
• Angular Displacement • Flux Linkage
• Moment of Inertia • Capacitance
• Spring Constant • 1/Inductance
• Damping Coefficient • 1/Resistance
• Coupling Ratio • Transformer ratio

© 2000 http://www.ece.umn.edu/groups/electricdrives
2-11

Electrical Analogy of Motor & Load

wm wL
TL Load
Motor Tem

JL
Jm

1/ K wL
wM w
Tem TJM Tshaft TJL TJ TL
TL Tem
JM JL
J eq = J M + J L

Finite shaft stiffness Infinite shaft stiffness

© 2000 http://www.ece.umn.edu/groups/electricdrives
2-12

Coupling Mechanisms
o Required when
u a (rotary) motor is driving a load which requires linear
(translational) motion
u motors prefer higher rotational speed than that required by
the load
u the axis of rotation needs to be changed

o Types
u Conveyor belts (belt and pulley)
u Rack and pinion or a lead-screw type of arrangement
u Gear mechanisms

© 2000 http://www.ece.umn.edu/groups/electricdrives
2-13
Conversion between Linear and Rotary
Systems
fL
M u J m = motor inertia

r
M = mass of load
r = pulley radius
Tem
Motor du
f = M + fL
Jm dt
u = r wm
dw m
T = r f = r2M + rf L
dt
d wm 2 dw
Tem = Jm +r M + r fL
1424 dt3 144244 dt 3
required to accelerate due to load
motor
© 2000 http://www.ece.umn.edu/groups/electricdrives
2-14

Gears
T1 r1
Tem
Motor
wM
JM
TL
T2
r2
Load
wL
JL
u Basic relationships: radius, speed, torque
Equal speeds at gear surfaces Þ r1 w M = r2 w L
Power transferred across gears Þ w M T1 = w L T2 ,
r1 w T æ d wM öwM æ d wL ö
Þ = L = 1 & ç Tem - J M ÷ = ç L
T + J L ÷
r2 wM T2 è144 42444 dt 3ø w L è
1442443ø dt
T1 T2
u Geared up: speed increased, torque decreased w L > w M ; T2 < T1 ; r2 < r1
u Geared down: speed decreased, torque increased
w L < w M ; T2 > T1 ; r2 > r1

© 2000 http://www.ece.umn.edu/groups/electricdrives
2-15

Gears (cont’d)
u Equivalent Inertia
é æ w L ö ù d wm æ w L ö
2
Tem = êJm + J L ç ÷ ú +ç ÷ TL
êë è w m ø úû dt è wm ø
144 42444 3
J eq
2 2
æw ö ær ö
Þ J eq = Jm + JL ç L ÷ = Jm + JL ç 1 ÷
è wm ø è r2 ø

u Optimum gear ratio (to minimize Tem )


2
ær ö æ r1 ö Jm
Jm = ç 1 ÷ × JL Þ çr ÷ =
è r2 øopt. è 2 øopt. JL

d wm æ r ö dw L
and ( Tem )opt. = 2 J m = 2J m ç 2 ÷
dt è r1 øopt. dt

© 2000 http://www.ece.umn.edu/groups/electricdrives
2-16

Types of Loads
Centrifugal loads

Fan

Constant Torque loads

Hoist

© 2000 http://www.ece.umn.edu/groups/electricdrives
2-17

Types of Loads
Squared power loads

Compressor

Constant power loads

Winder

© 2000 http://www.ece.umn.edu/groups/electricdrives
2-18

Four-Quadrant Operation

w
(2 ) (1)
wm = + wm = +
Tem = - Tem = +
wm p=- p=+
Tem
Tem
Motor Load
wm = - wm = -
Power Tem = - Tem = +
p=+ p=-
( 4) (3)

© 2000 http://www.ece.umn.edu/groups/electricdrives
2-19

Dynamic Operation

o How the operating point changes with time

o Important for High Perfomance Drives

o Speed change: rapid and without any oscillations

o Requires good controller design

© 2000 http://www.ece.umn.edu/groups/electricdrives
2-20

Summary

q What are the MKS units for force, torque, linear velocity,
angular velocity, speed, and power?
q What is the relationship between force, torque, and power?
q Show that torque is the fundamental variable in controlling
speed and position.
q What is the kinetic energy stored in a moving mass and a
rotating inertia?

© 2000 http://www.ece.umn.edu/groups/electricdrives
2-21

Summary

oWhat is the mechanism for torsional resonances?


o What are the various types of coupling mechanisms?
o What is the optimum gear ratio to minimize the torque
required from the drive to accelerate a load?
o What are the torque-speed and the power-speed profiles
for various types of loads?

© 2000 http://www.ece.umn.edu/groups/electricdrives

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