Module 1

Motor Drive Systems

 Basics
⚫ Drives are employed for systems that require motion
control.

⚫ Prime movers provide motion in drive systems.

⚫ If the prime mover is an electric motor → Electrical

drives.

Advantages of Electrical drives

➢ Flexible control characteristics
➢ High efficiency, low noise, low maintenance
➢ Availability in a wide range of speed
➢ Adaptability to various operating conditions
➢ Instant start and loading.
➢ Ease of transport of electrical energy.
 Conventional electric drive system

System is bulky, expensive, maintenance intensive

Modern Electric drive system
DC DRIVES Vs AC DRIVES

DC drives:
Advantage in control unit
Disadvantage in motor

AC Drives:
Advantage in motor
The disadvantage in control unit
 DC DRIVES
⚫ DC drives: Electric drives that use DC
motors as the prime movers
• DC motor: industry workhorse for decades
• Dominates variable speed applications
before Power Electronic converters were
introduced
• Will AC drive replace DC drive ?
– Predicted 30 years ago
– DC strong presence – easy control – huge
numbers

– AC will eventually replace DC – at a slow rate

 DC Motors

• Advantage: simple torque and speed control

without sophisticated electronics

• Limitations:

• Regular Maintenance • Expensive motor

• Heavy motor • Sparking
 Torque Equations
Linear Motion

With constant mass →

For rotational motion →

Constant Moment of inertia → Relates torque and mech speed

Net torque →
 General Torque Equation
Translational (linear) motion:

dv F : Force (Nm)
F =M M : Mass (Kg )
v : velocity (m/s)
dt
Rotational motion:
d T : Torque (Nm)
T=J J : Moment of Inertia (Kgm2 )
 : angular velocity ( rad/s )
dt
 Torque Equation: Motor drives
d d
Te = TL + J or Te − TL = J
dt dt

Te : motor torque (Nm) TL : Load torque (Nm)

Te − TL  0 Acceleration

Te − TL  0 Deceleration

Te − TL = 0 Constant speed
…continue

Drive accelerates or decelerates depending on

whether Te is greater or less than TL

During acceleration, motor must supply not only

the load torque but also dynamic torque, ( Jd/dt ).
During deceleration, the dynamic torque, ( Jd/dt ), has
a negative sign. Therefore, it assists the motor
torque, Te.
 Torque Equation: Graphical
Te

Speed

Forward Forward Reverse Reverse Reverse Forward

running braking acc. running braking acc.
 Load Torque

Load torque, TL, is complex, depending on applications.

In general:

TORQUE TL = k

TL = k
TL = k2

SPEED
Four Quadrant Operation
 DC MOTOR DRIVES

Principle of operation

Torque-speed characteristic
Methods of speed control
Armature voltage control
Variable voltage source
Phase-controlled Rectifier
Switch-mode converter (Chopper)
1Q-Converter
2Q-Converter
4Q-Converter
 Principle of Operation
DC Motors
Rotor:
Stator: armature
field windings
windings

Current in
Current out
Equivalent circuit of DC motor
Ra La Lf Rf

+ ia + if +

Vt ea Vf

_ _ _

di di f
v t = R a ia + L a + ea v f = R f if + L
dt dt

Te = ktia Electromagnetic torque

ea = k E  Armature back e.m.f.

Torque-speed characteristics

Armature circuit:
di In steady state,
Va = Ra ia + L a + ea Va = Ra I a + Ea
dt

Therefore, speed is given by,

Ra Va
=− T +
(kT  )2 e
kT 

Three possible methods of speed

control:
Armature resistance, Ra
Field flux, F
Armature voltage, Va
Torque-speed characteristics of DC motor

Speed
No load speed

Full load speed Maximum

load
Torque

Torque

Separately excited DC motors have good speed regulation.

 DC Motor Speed Control
By Changing Ra

Speed

Ra increasing
Maximum
Torque

Torque
Trated
• Power loss in Ra
• Does not maintain maximum torque capability
• Poor speed regulation
 DC Motor Speed Control
By Decreasing Flux

Speed

Flux Decreasing Maximum

Torque

Torque
Trated
• Slow transient response
• Does not maintain maximum torque capability
 DC Motor Speed Control
By Changing Armature voltage
Speed

Va increasing

Maximum
Torque

Torque
Trated
• Good speed regulation
• Maintain maximum torque capability
Speed control of DC Motors

Below base speed: Armature voltage control (retain maximum torque

capability)
Above base speed: Field weakening (i.e. flux reduced)
Trade-off between torque capability and speed)

Torque Armature voltage control

Field flux control

Line of
Maximum
Torque Limitation

base speed
Methods of Armature Voltage Control

1. Ward-Leonard Scheme
2. Phase-controlled rectifier (AC–DC)
3. Switch-Mode Converter (Chopper) (DC–DC)
Methods of Armature Voltage Control

Phase-controlled rectifier (AC–DC)

ia

+
3-phase Or
1-phase Q2 Q1
supply Vt
Q3 Q4 T

−
Methods of Armature Voltage Control

Phase-controlled rectifier: 4Q Operation

+
1 or 3- 1 or 3-
phase Vt phase
supply supply
−

Q2 Q1
Q3 Q4 T
Converters For DC motor Drives

Switch–mode converters: 1Q Converter


T1
+ Q2 Q1
Vt
Q3 Q4 T
-
Converters For DC motor Drives

Switch–mode converters: 2Q Converter

T1 Q2 Q1
D1
Q3 Q4 T
+
T2 Vt
D2- Q1 → T1 and D2

Q2 → D1 and T2
Converters For DC motor Drives

Switch–mode converters: 4Q Converter

D1 D3
T1 T3 Q2 Q1
+ Vt -
Q3 Q4 T

T4 D2 T2
D4
Advantages of Switch mode converters

Switch–mode converters

• Switching at high frequency

→ Reduces current ripple

→ Increases control bandwidth

• Suitable for high performance applications