ELECTRIC DRIVES

MODULE 1
BLOCK DIAGRAM
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Drive:-
- is a combination of various systems combined together for the purpose of
motion control or movement control.
- the drive which employ electric motors for motion control are called
Electric Drives

BLOCK DIAGRAM
• Main parts – Load, Motor,
Power Modulator, Source & Control Unit.
• An electric motor drives the load.
• Motor is supplied from a power
modulator(thyristor power converter).
• The converter has necessary controls to
provide the required supply to the motor.
For eg. Variable voltage variable frequency supply
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LOAD:-
• Load is usually a machinery designed to accomplish a given task. Eg.- pumps, robots,
fans etc.
• Load requirements can be specified in terms of speed & torque demands.
• A motor having speed-torque characteristics & capabilities compatible or similar to
load requirements are chosen.
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ELECTRIC MOTORS:-
• Commonly used are
- DC Motors - shunt, series, compound and permanent magnet motors.
- AC Motors - Induction motors-squirrel cage, wound rotor(slip ring) & linear
induction motor
- Synchronous motors- wound field, permanent magnet motors.
- Brushless DC (BLDC) motors, Stepper motors & Switched Reluctance
Motors(SRM) are also used.
• Drives using Induction & Synchronous motors
- were used in constant speed drives.
- have very low efficiency.
• So DC motors started dominating in variable speed drives (VSDs).
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Disadvantages of DC motors (with commutator & brushes) compared to AC
motors:-
• High cost, weight, volume and inertia for the same rating
• Need for frequent maintenance
• Unsuitable for explosive and contaminated environment
• Restrictions on maximum voltage, speed and power ratings.

❑Due to development of semiconductor devices like thyristors, IGBTs, power

transistors etc., AC motors are widely used in VSDs.
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AC MOTORS:-
Squirrel cage induction motors:-
• Cost is one-third of a DC motor of same rating.
• Rugged, requires no maintenance.
• Can be built for higher speeds, torques and power ratings.
Wire wound motors:-
• More expensive than squirrel cage induction motors.
• Less maintenance than DC motors but more than squirrel cage induction motors.
• Available in high power ratings.
Wound field and permanent magnet synchronous motors(PMSM):-
• Higher full load efficiency and power factor than induction motors.
• Can be designed for higher power rating than induction motors.
• Higher cost and size for same rating.
• Require more maintenance compared to squirrel cage induction motors.
• PMSMs have all the advantages of squirrel cage induction motors but the power rating is
low.
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Brushless DC motors (BLDC Motors):-
• Similar to PMSM , but has low cost.
• Requires simpler and cheaper converter.
• Considered for low power high speed drives
• Used for servo applications as an alternative to DC servo motor.
DC servo motor:-
• Has all the disadvantages of DC motors with commutators and brushes.
• At low power levels, the friction between brushes and commutators is objectionable.
It affects the steady state accuracy of the drive.
Stepper motors:-
• Popular for position control
Switched reluctance motor(SRM):-
• Popular for speed control
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POWER MODULATORS:-
Functions:-
(i) Modulates the flow of power from source to the motor in such a manner
that the motor gives a speed-torque characteristics as required by the load.
(ii) During transient operation, like starting, braking and speed reversal, the
power modulator limits the source and motor currents within the permissible values.
Excessive currents drawn from the source may overload it and may cause a voltage dip.
(iii) Converts electrical energy of the source to a form suitable to the motor.
(iv) Selects the mode of operation of motor. i.e., motoring or braking.
• When the power converter is used to perform the third function it is called a
CONVERTER.
• Depending on its circuit, a converter may also perform other functions also.
•A converter is needed when the nature of the available electrical power is different
than what is required for the motor.
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POWER MODULATORS:-
Classification:-
(i) Converter
(ii) Variable impedance
(iii) Switching circuits
(i) Converters:-
1. Rectifiers (AC to DC converters)
2. AC regulators (AC to AC converters)
3. Choppers (DC to DC converters)
4. Inverters (DC to AC converters)
5. Cycloconverters (AC to AC converters)
Power sources are of two types:-
- fixed voltage fixed frequency AC
- fixed voltage DC
For DC motor control variable DC voltage and for AC motor control variable voltage
AC or variable voltage variable frequency AC is required. These requirements are met by the converters.
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1. AC to DC converters:-

• Fig (a) Uncontrolled rectifier

• Fig (b) Controlled rectifier

- two quadrant converter
-capable of providing variable DC voltage of
either polarity with +ve current
- produce harmonics
both on DC & AC side
- have low power factor
for DC voltages
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1. AC to DC converters:- (Contd…)
• Fig (c ) Controlled rectifier
– is a single quadrant converter
- +ve voltage & +ve current
- produce harmonics both on
DC & AC side
- have low power factor for DC voltages
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1. AC to DC converters :- (Contd…..)
• (d) Uncontrolled rectifier
– operate at unity fundamental power factor
- o/p voltage is changed by applying a mechanical force
- few discrete steps of DC voltage can only be obtained
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1. AC to DC converters :- (Contd…..)
• Fig (e)
- operate at unity fundamental power factor
- Output voltage can be varied in a step less manner by controlling the duty
ratio of the semiconductor device of the chopper by low power electrical signals from
a control unit.
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1. AC to DC converters :- (Contd…..)

• Fig (f) Controlled rectifier

– employing semiconductor devices power transistors, IGBTs & GTOs
-can be single quadrant or 2 quadrant depending on the circuit
-operate at unity fundamental power factor
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1. AC to DC converters :- (Contd…..)
• Fig (g)Uncontrolled rectifier
- the output voltage is controlled by controlling the field current of the generator
from a control unit of higher power level
-can operate in all 4 quadrants
- number of disadvantages because of 2 rotating machines
- bulky, heavy, noisy, less efficient, slow response, expensive, requires special
foundation.
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1. AC to DC converters :- (Contd…..)

• The converter in fig (h) can operate in single

quadrant only

• Some very old equipments may use

converters in fig (i) & fig (j) - magnetic
amplifiers & amplidynes are controlled
from low power DC signals
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2. AC voltage controllers :-
• Fig (a)- Gives fixed AC voltage.
- Autotransformers capable of giving variable output voltage are not employed
due to sliding contacts

• Fig (b)- gives variable AC voltage with few discrete steps.

- control is exercised by a mechanical switch.
- output voltage and current are sinusoidal.
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2. AC voltage controllers :- (Contd…..)
• Fig (c )
- a thyristorised voltage controller is used here
- stepless control of output voltage can be obtained by controlling the firing
angle of converter.
- output voltage and source current have harmonics
- poor power factor at low output voltages.
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2. AC voltage controllers :- (Contd…..)
• Fig (d)
- old drives employ magnetic amplifier
- high cost, weight and volume and poor efficiency – so replaced by thyristor
controllers.
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3. Choppers:-

• Used to get variable DC voltage from a fixed DC voltage

• Uses semiconductor devices like power transformers, IGBTs, power MOSFET,
thyristors etc.
• Output voltage can be varied in a step less manner by controlling the duty ratio of the
chopper.
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4. Inverters:-
• To get variable frequency AC from a fixed
DC supply.
• Stepped wave inverters- can be designed to behave
as voltage source or current source and they are
known as voltage source or current source inverters respectively.
• For AC motor control, voltage/current should also be controlled along with frequency.
• Variation in output voltage/current can be achieved by varying the input DC voltage. This is
achieved by placing a chopper in between fixed DC source and the inverter.
• Output contains considerable harmonics.
• When the inverter is controlled by PWM, variable frequency variable voltage AC is directly
obtained from fixed voltage DC.
• PWM reduces harmonics in output voltage
• Built of semiconductor devices like thyristors, IGBTs, GTOs etc., are controlled by
controlling firing angle.
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5. Cycloconverters:-

• Converts fixed voltage fixed frequency AC to variable voltage variable frequency

AC.
• Built using thyristors and controlled using firing angle control.
• Output frequency is restricted to 40% of supply frequency to keep harmonics in
output voltage and source currents within limits.
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POWER MODULATORS - Classification :- (Contd…..)
(ii) Variable impedance:-
• Variable resistors
- commonly used for the control of low cost DC & AC drives.
- needed for the dynamic braking of drives.
- can be controlled manually or automatically with the help of contactors.
- stepless variation of resistance can be obtained using a semiconductor switch
in parallel with a fixed resistance.
- variation of duty ratio of the switch gives a stepless variation in effective value
of the resistance.
• Variable inductors
- usually in two steps(full or zero), are employed
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POWER MODULATORS - Classification :- (Contd…..)
(iii) Switching circuits:-
Switching operations are required to achieve:-
• For changing motor connections to change its quadrant of operations
• For operating motor circuit parameters in discrete steps for automatic starting and braking
control.
• For operating motors and drives according to a predetermined sequence.
• To prevent maloperation.
• To disconnect motor when abnormal operating conditions occur.
Switching operations in motor’s power circuit are done by high power electromagnetic relays
known as contactors.
Thyristor switches – disadvantages- no isolation between source and motor circuit. So
contactors are still used.
Low power electromagnetic relays were used for sequencing & interlocking operations.
Nowadays solid state relays are used.
Programmable logic controllers(PLCs) are employed to implement complicated sequencing
& interlocking operations.
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SOURCES:-
• Low power drives are fed from single-phase source.
• High power drives are fed from three-phase source except traction drives where single-
phase supply is used even at very high power levels because of economy.
• When fed from 50Hz AC, the maximum speeds of induction motor and synchronous motors
are limited to 3000 rpm.
• Low and medium power motors – fed from 400V supply
High power motors – fed from 3.3 kV, 6.6 kV, 11 kV and higher are used
• Aircraft & space applications – 400 Hz AC supply is used- to achieve high power to weight
ratio.
• Main line traction – high voltage supply is used- because of economy- in India 25 kV 50 Hz
supply is used.
• Drives powered from battery – fork lift trucks(is a powered industrial truck used to lift and
move materials over short distances), milk vans etc. Typical values of battery voltage are 6 V,
12 V, 24 V, 48 V and 110 V DC etc.
• Drives powered from low voltage DC supply- solar powered drives- used in space & water
pumping applications.
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CONTROL UNIT:-
• Controls for power modulator is provided in this unit.
• Nature of the control unit depends on the power modulator used.
• When semiconductor converters are used, the control unit consists of firing circuits.
• When control of switching circuits is required, the control unit will provide sequencing and
interlocking.
• Solid state relays are also used but when control is complex PLCs are used.
SENSING UNIT:-
Performs two functions:-
• Speed sensing
- required for implementation of closed loop control schemes.
- speed sensed by tachometers.
- when high speed accuracies are required digital tachometers are used. Eg.- paper mills,
computer peripherals.
• Current sensing- employs two methods
- use of current sensor using hall effect.
- use of non-inductive resistance shunt in conjunction with an isolation amplifier- has an
arrangement for an amplification and isolation between power and control circuits.
 ELECTRIC DRIVES-Advantages
ADVANTAGES:-
• Have flexible control characteristics. The steady state and dynamic characteristics can be
shaped to satisfy load requirements.
• Automatic fault detection systems, PLCs and computers can be used to automatically
control the drive operations in desired sequence.
• Available in wide range of torque, speed and power.
• Can operate in all the 4 quadrants of speed-torque characteristics. Electric braking gives
smooth deceleration and increases life of the equipment compared to other forms of braking.
• Can be used in any operating conditions like explosive and radioactive environments and
electrical drives do not pollute the environment.
• There is no need to re-fuel the motor.
• Can be started instantly and can be fully loaded immediately.
• Powered by electrical energy which has a number of advantages over other forms of
energy. It can be generated and transported to the desired point economically and efficiently.
 ELECTRIC DRIVES-Comparison
Comparison of DC and AC drives:-
DC drives AC drives

1. Commutator makes the motor bulky, costly and 1. Motors are inexpensive, particularly squirrel cage
heavy. motor.
2. Line commutation of the converter is used. 2. Forced commutation is used with induction
motors.
3. Poor power factor, harmonic distortion of the 3. For regenerative drives line power factor is poor.
current.
4. Fast response and wide speed range and smooth 4. Response depends on the type of control. With solid
control. state converters speed range is wide. With conventional
methods it is stepped and limited
5. Small power/weight ratio. 5. Large power/weight ratio.

6. Sparking at the brushes makes it unsuitable for 6. Problems like sparking at the brushes are not here.
certain locations.
7. Highest speed and design rating are limited due to 7. No upper limit for speed and design rating. Motor is
commutation. Commutator requires frequent reliable , requires less maintenance, can be used in all
maintenance. locations.
 ELECTRIC DRIVES
Choice of electrical drive depends on :-
1. Steady state operation requirements
- nature of speed-torque characteristics, speed regulation, speed range,
efficiency, duty cycle, quadrants of operation, speed fluctuations.
2. Transient operation requirements
- values of acceleration and deceleration, starting, braking and reversing
performance.
3. Requirements related to the source
- type of source, capacity, magnitude of voltage, voltage fluctuations, power
factor, harmonics, ability to accept regenerated power.
4. Capital and running cost, maintenance needs, life
5. Space and weight restrictions if any.
6. Environment and location
7. Reliability