Assignment: Electrical Drives and Applications (Module-2)

since the given speeds are very very high the motor torque is
proportional to the Slip
1) An induction motor directly connected to a 400 V, 50Hz supply utility has a rated torque
of 30Nm that occurs at a speed of 2940 rpm. The motor drives a fan load that can be
approximated by TL = B.ωm
Where B = 0.05 Nm/rad/s, and the rated speed of the motor is 3000 rpm. Stating any
assumption made, calculate the speed in the equilibrium position at which the torque
developed by the motor is equal to the load torque. [2967rpm]
2) A weight W of 1500 kg is to be lifted up with a velocity of 1.5 m/s by means of a motor-
hoist system shown in Figure below. The winch drum has a diameter of (0.35 m) and is
driven by a motor running at (1000 rpm). The inertia of the motor and the winch drum are
1.8 kg.m2 and 4.2 kg.m2, respectively. Calculate the equivalent inertia and load torque of
the system referred to as the motor shaft. Also, find the motor torque if the load speed is
achieved by 2 sec. [2.136 Kg-m2, 210.91 N.m, 322.7 N-m]

3) A hoist system is simplified, depicted in Figure a) below. The total moment of inertia
consists of J1 =10 kg-m2, J2=30 kg-m2, r = 0.2m, and mass of the load, m = 100 kg. A
gearbox with a speed ratio of n1:n2=2. The mass m is driven to follow the speed profile as
given in Figure b). Calculate the motor torque. [Jeq=18.5 Kg-m2, Tleq=98.1 N-m, Tm=560.6
N-m during acceleration, 98.1 N-m during constant speed, -462.5 N-m during Braking]

4) An a.c. motor is used to lift a mass of 750 kg through a height of 50 meters, as shown in
t h e Figure below. It is required that the mass must be lifted in time of 22 s. Calculate
the power developed by the motor and the power rating of the motor needed.
[Ans: 16.72 kW 18.58 kW]
 5) A paper manufacturing machine driving a large reel of paper installed at the end of the
machine. The reel has a radius of 1 m, a length of 4.5 m, and a moment of inertia of 3750
kg.m2. The machine employs driving motor a variable-speed driving motor running at
100 rpm. The paper is kept under constant tension of 5500 N.

(a) What is the power of the motor when it runs at 100 rpm?
(b) Calculate the torque and power produced by the motor when the motor speed is
raised to 150 rpm in 10 s.
[Ans: (a) T = 5500 Nm, P = 57.52 kW, (b) T = 7463.35 Nm, P = 86.38 kW]
6) A horizontal conveyor belt is moving at a velocity of (1.5 m /s) and moves load at the rate
of (60,000 kg/hour). The belt is (90 m) long and is driven by a motor with a speed of (960
rpm). Determine equivalent rotational inertia at the shaft of the motor. The figure below
shows the system. [ Ans: 0.227 kg.𝑚2]
90 m
1.5 m/s 1000kg

7) A load torque of (6000 Nm) is supplied by the motor through gears of ratios (1:2:4:8:16).
The speed of the motor is (960 rpm).
Find the load torque referred to the motor shaft if the efficiency of each gear is
(85%). Find t h e power required by the load. Also, find the power input to the motor
if the motor efficiency is (88 %). The system is shown in the Figure below. [Ans: 718 Nm,
37.7 kW, 82.067 kW]
power delivered
to the load 1:2
Motor
2:4
( Jm,wm)
4:8

8:16

Load
 Solved Problems, Dynamics of Electrical Drives (Module-2)
Prob 1: A variable speed d.c. the drive has a rated power of 10 kW a rated speed of 1500
rpm and drives a load that comprises a constant load of TL = 30 Nm. The inertia of the drive
system is 0.10 kg.m2. Calculate the time taken to accelerate the load from zero to 800 rpm,
assuming the drive develops rated torque during the acceleration phase.

Note: Ta=Torque for Accelerating.

Prob 2: In the hoist drive system, the following are given: Jm = 0.5 kgm2; m = 500 kg. D
= 0.5 m; L=1m. The mass of the cable is negligible. Determine
(a) The moment of inertia of the drum referred to the motor, assuming that the density
of the material,  = 7900 kg/m3.
(b) The drive now lifts and moves the load from point to point with a peak velocity
profile as indicated in Figure 2. Calculate and plot the torque that the motor must
develop.

Solution: Let, MD=Mass of the Drum, r = radius of Drum

 M Dr2
Moment of Inertia of Drum, J D =
2
Mass of the drum MD
The density of the drum,  = =
Volume  r2  L ( )
M D r 2 ( r 2 L   )r 2
So, mass of the Drum, M D =  r L    Thus, J D =
2
=
2 2
Given Parameters:
Jm=0.5 Kgm2, Mass of the load, m=500 kg, Radius of the Drum, r=0.5/2=0.25 m, Length
of the Drum, L=1m, Density of the Drum material, =7900 Kg/m3
( r 2 L   )r 2  r 4 L  
Moment of Inertia of Drum, J D = =
2 2
 (0.25)4 1 7900
= = 48.47 Kg.m2
2

As the Drum is directly coupled to the Motor shaft, the Moment of Inertia of the Drum,
referred to the Motor shaft, J D' =J D = 48.47 Kg.m 2
9.81 m  V1  9.81 500  0.25
For linear load, TL ,eq =  = = 1226.25 N-m [As v1 = m  r ]
1  m  1.0

2
m  v1  mr 2
Equivalent Inertia, J eq = J m + J d +   = Jm + Jd + [As v1 = m  r ]
1  m  1
500  0.252
= 0.5 + 48.47 + = 80.22 kg-m 2
1
dm dV / r 2 / 0.25
Thus, required motor torque, Tm = TL,eq + J eq = TL,eq + J eq = 1226.25 + 80.22  = 1386.25 N-m
dt dt 4
[As v = m  r  m = v / r ]

Prob 3: A motor drives two loads. One has rotational motion. It is coupled to the motor
through a reduction gear with a1 = 0.1 and an efficiency of 90 %. The load has a
moment of inertia of 10 kg − m2 and a torque of 10 N − m. Other load has translational
motion and consists of 1000 kg weight to be lifted up at a uniform speed of 1.5 m/s.
Coupling between this load and the motor has an efficiency of 85 %. The motor has
an inertia of 0.2 kg − m2 and runs at a constant speed of 1420 pm. Determine equivalent
inertia referred to the motor shaft and power developed by the motor.
a1=ωL1/ωm
ωL1
Load(JL1) TL1
ωm
Motor
(Jm) Drum
η1
Tm ML
v

Solution:
Given: Motor speed, m = 2 1420 / 60 = 148.7 rad/sec, its inertia, J m =0.2 kg-m2
L1
Load-1: Loat torque, TL1 =10 N-m, its inertia, J L1 =10kg-m2 , Gear ratio, a1 = =0.1, its efficiency,1 =0.9
m
Load-2: Mass of the load, M L =1000 kg, its linear motion, v =1.5 m/sec, its efficiency,2 =0.85
 Equivalent MI (J eq ) of such system with a rotational and a translational load of mass M 1 , and velocity v1 , can be
2
ML  v  0.12 10 1000  1.5 
2
a12 J1
 J eq = J m + +   = 0.2 + +   = 0.43 kg-m
2

1  2  m  0.9 0.85  148.7 

a1 9.81 M L  v 
Equivalent load torque referred to motor shaft, TL ,eq = TL1 +  
1 2  m 
0.1 9.811000  1.5 
TL ,eq = 10 +   = 117.53 N-m
0.9 0.85  148.7 

For constant speed, power required by the motor= Tm  m

= TLeq  m = 117.53 148.7 = 17476.711Watt

Prob 4: An induction motor directly connected to a 400V, 50Hz supply utility has
a rated torque of 30Nm that occurs at a speed of 2940 rpm. The motor drives a fan
load that can be approximated by: TL = B . ωm
where B = 0.05 Nm/rad/s, and the rated speed of the motor is 3000 rpm. Stating
any assumption made, calculate the speed, in equilibrium position at which the
torque developed by the motor is equal to the load torque.
Prob 5: A drive is used in a hoist to raise and lower weights up to 400 kg at velocities up
to ± 2 m/s. The weight hangs from a cable that is wound on a drum of radius of 0.4 m.
The drum is driven by the drive motor through a gearbox that has an efficiency of
85%. The maximum speed of the motor is ± 1300 rpm. It is required to:
(a) Determine the torque and power provided by the motor when lifting the
maximum weight at the maximum velocity.
(b) Calculate the torque and power provided by the motor when lowering the
maximum weight at the maximum velocity.

1 5
Gear ratio, a1 = = =0.0367
m 136.06

aT1 0.0367 1569.6

Load torque referred to motor, T2 = = =67.8 N-m
 0.85
Now the power of the drive, Pdrive = Tm  m = T2  2 = 67.8 136.06 = 9224.8W = 9.22kW

(b) When lowering, moving mass now supplies gearbox losses, hence
T2  2
i.e., =  Load torque referred to motor, T2 = aT1 = 0.0367 1569.6  0.85 = 48.96N-m
T1  1
Now the power of the drive, Pdrive = Tm  (−m ) = −(T2  2 ) = −(48.96 136.06) = 6661.99W = 66.62kW

The minus sign indicates that the drive is regenerating.

Prob 6: Calculate the load inertia for the belt-drive application. The parameters of the belt drive
are given below.

Solution: We will need to add up all the load inertia values of all components driven by the
motor. This includes the load, the belt, and the rollers. We will need to use 2
different equations.
Moment of inertia of one Roller,
m2 r 2 m2 D 2 1 0.12
JR = = = = 12.5  10−4 Kg-m 2
2 8 8
Moment of inertia of Belt and Load with mass, M eq =m2
m2 D 2 7  0.12
J L =M eq r 2 = = = 175  10−4 Kg-m 2
4 4
So, overall equivalen inertia of the load referred to motor side (Direct drives System)
J eq =2J R + J L = (2  12.5  10−4 + 175 10 −4 ) Kg-m 2 = 200 Kg-m 2

Toral frictional force at Motor Shaft, Ffriction =   Ftotal =  M eq  g for horizontal plane
Ffriction =0.3  7  9.81 = 20.6 N

For Direct Drive

Teq = Ffriction  R1 / b = 20.6  (0.1/ 2) / 0.9 = 1.15 N-m

Prob 7: Accelerating of a fan to nominal speed is done with nominal torque. At nominal speed,
torque is 87% of its nominal value. The fan’s moment of inertia is 1200 kgm2 and the motor’s
moment of inertia is 11 kgm2. The load characteristics of the fan,Tload is shown in Figure. Motor
 nominal power is 200 kW and nominal speed is 991 rpm. Find the nominal torque and time to
accelerate the motor (fan) with nominal torque.

Solution: Nominal torque

Pn 60 P( watt ) P( watt )
Tn = = = 9550
m , n 2 N m (rpm) N m (rpm)
200
= 9550 = 1927 N.m
991
The starting time is calculated by dividing the speed range into five periods. In each period
(991/5=198.2 rpm), torque is assumed to be constant. The torque for each sector or period is taken
from the middle point of the period. This is quite acceptable because the quadratic behavior is
approximated to be linear in the period.

The individual time and the total time to accelerate the motor (fan) with nominal torque can be
calculated using the formulas as:

Given, Jt=JL+Jm=1211 kg.m2, ∆Nn=198.2 rpm

2 ( N n )
The change of time for changing motor speed and torque is t = J t
60 Tn − TL