CATEGORY L T P CREDIT

EET413 ELECTRIC DRIVES

PEC 2 1 0 3

Course Outcomes: After the completion of the course the student will be able to

CO 1 Describe the transient and steady state aspects electric drives

CO 2 Apply the appropriate configuration of controlled rectifiers for the speed control of
DC motors
CO 3 Analyse the operation of chopper-fed DC motor drive in various quadrants
CO 4 Illustrate the various speed control techniques of induction motors
CO 5 Examine the vector control of induction motor drives
CO 6 Distinguish different speed control methods of synchronous motor drives

Course Level Assessment Questions Course

Outcome 1 (CO1):
1. Derive the condition for steady state stability (K3,K4, PO1, PO4).
2. Draw the speed torque characteristics of traction drive (K1, PO1).
3. Problems based on fundamental torque equations and equivalent values of
drive parameters (K3, K4 , PO2, PO4).
Course Outcome 2 (CO2)
1. Numerical problems based on rectifier controlled separately excited dc motor. (K3, K4,
PO2, PO4).

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2. Describe the function of a three phase inverter driving a dc motor (K2, PO1).
3. Draw the circuit diagram of dual converter and explain the operation (K1, PO1).
Course Outcome 3(CO3):
1. Explain Motoring and braking operation of chopper controlled DC motor (K2,PO1).
2. Numerical problems based on chopper controlled separately excited dc motor. (K3, K4,
PO2, PO4).
3. With the block diagram illustrate the closed loop control of SEDC motor (K2, PO4).
Course Outcome 4 (CO4):
1. List different speed control methods for three phase induction motors (K1, PO1)
2. Discuss sine triangle PWM control of three phase induction motor drive (K2, PO4).
3. Numerical problems based on speed control of induction motor drives (K3,K4, PO2, PO4).
Course Outcome 5 (CO5):
1. Draw the block diagram of direct vector control of induction motor drives (K2, PO1).
2. Figure out the differences of scalar and vector control methods of three phase induction
motor (K3, PO1).
3. Draw the decoupled diagram and phasor diagram of three phase induction motor (K2,
PO1) .
Course Outcome 6 (CO6):
1. Explain v/f control of three phase synchronous motor drive (K2, PO1).
2. Enumerate different speed control methods of synchronous motor drives (K1, PO1).
3. With the diagram of load commutated CSI synchronous motor drive discuss the operation
(K2, PO1).
Model Question Paper
PAGES: 3

QPCODE:
Reg. No:
Name:

APJ ABDUL KALAM TECHNOLOGICAL UNIVERSITY SEVENTH

SEMESTER B. TECH DEGREE EXAMINATION MONTH &
YEAR

Course Code: EET413

Course Name: ELECTRIC DRIVES
Max. Marks: 100 Duration: 3 Hours
PART A
Answer all Questions.
Each question carries 3 Marks
1 Draw the block diagram of an electric drive.
2 List 3 classifications of load torque with one example for each.
3 For a single phase fully-controlled rectifier fed separately excited DC
motor, the armature current is assumed to be continuous and ripple free
(ia = Ia ). Draw the source current waveform for a firing angle of 45˚.
4 Can a half-controlled rectifier fed separately excited DC drive operated in

5 TRACE KTU
quadrant IV? Justify your answer.
Draw the circuit diagram of a two-quadrant (class C) chopper showing the
two quadrants of operation.
6 With the help of the torque – speed characteristics of a DC series
motor, explain why it is used for high-starting torque applications?
7 Constant torque loads are not suitable for AC voltage controller fed
induction motor drive. Why?
8 Why V/f ratio is kept constant upto base speed and V constant above
base speed in variable frequency control of an induction motor?
9 Differentiate between true synchronous mode and self-control mode of
operation of a synchronous motor.
10 List any two advantages of vector control of 3-phase induction motors.

PART B
Answer any one full question from each module.
Each question carries 14
Marks Module 1
11 a) What are the advantages of electric drives? (7)
b) Explain the multi-quadrant operation of a motor driving a hoist load. (7)
12 a) Explain about steady state stability of equilibrium point in electric drive. (7)
b) A drive has following parameters: - J=10kg-m2, T=100-0.1N and Tl =0.05N where
N is the speed in rpm. Initially the drive is operating in steady state Now it is to be
 reversed. For this motor characteristics is changed to T = -100-0.1N. Calculate the (7)
time of reversal

Module 2
13 a) Explain the working of 3-phase fully-controlled separately excited DC drive with
(7)
necessary waveforms.
b) A 220V, 1500rpm, 10A separately excited DC motor is fed from a single phase
fully controlled rectifier with an ac source voltage of 230V, 50Hz. R a =2Ω. (7)
Conduction can be assumed to be continuous. Calculate the firing angles for
rated motor torque and -1000rpm.
14 a) Explain the discontinuous conduction mode of operation of a fully controlled (7)
rectifier fed separately excited DC motor with necessary waveforms.

b) Explain the working of a dual converter (circulating current type) fed (7)
separately excited DC motor.

Module 3
15 a) Explain the operation of four quadrant chopper fed DC drives. (7)
b) A chopper used to control the speed of a separately excited DC motor has (7)
supply voltage of 230V, T on = 15ms, Toff = 5ms. Assuming continuous conduction
of motor current, calculate the average load current when the motor speed is
3000rpm. Assume voltage constant Kv = 0.5V/rad/sec and Ra
= 4Ω.

16 a)
b) TRACE KTU
Explain the chopper control of DC series motor.
Using a neat block diagram, explain the closed loop speed control for a
separately excited DC motor.
(7)
(7)

Module 4
17 a) Explain V/f control of 3-phase induction motor using necessary speed –
torque characteristics. (7)
b) A 440V, 3-phase, 50Hz, 6-pole, 945rpm, delta connected induction motor
has following parameters referred to the stator: R s = 2Ω, Rr’ = 2Ω, Xs = 3Ω, Xr’ =
4Ω. When driving a fan load at rated voltage it runs at rated speed. The motor (7)
speed is controlled by stator voltage control. Determine motor terminal
voltage, current and torque at 800rpm.
18 a) Explain the working of static rotor resistance control of 3-phase induction motor. (7)
Also derive the expression for the total rotor circuit resistance per phase.
b) Explain the static slip power recovery scheme using one uncontrolled bridge
rectifier and one controlled bridge rectifier in the rotor circuit. (7)
Module 5

19 a) Describe the principle of operation of vector control. (7)

b) Explain the variable frequency control of multiple synchronous motor. (7)
20 a) Explain Clerke and Park transformation with necessary equations. (5)
b) Describe the working of a self-controlled synchronous motor drive (9)
employing load commutated thyristor inverter.
 Syllabus (36 hours)
Module 1 (6 hours)
Introduction to electric drives – block diagram – advantages of electric drives – dynamics of
motor load system, fundamental torque equations, types of load – classification of load
torque, four quadrant operation of drives, Equivalent values of drive parameters- effect of gearing
- steady state stability.
Module 2 (7 hours)
Rectifier control of DC drives- separately excited DC motor drives using controlled rectifiers-
single-phase fully controlled rectifier fed drives (discontinuous and continuous mode of
operation), critical speed - single-phase semi converter fed drives (continuous mode of operation)
- three-phase semi converter and fully controlled converter fed drives (continuous mode of
operation) - dual converter control of DC motor - circulating current mode.
Module 3 (6 hours)
Chopper control of DC drives - two quadrant and four quadrant chopper drives - motoring
and regenerative braking - chopper fed DC series motor drive - closed loop speed control for
separately excited dc motor.

Module 4 (10 hours)

Three phase induction motor drives: Stator voltage control - Stator frequency control – v/f control
- below and above base speed – Voltage Source Inverter (VSI) fed v/f control using sine-triangle
PWM - static rotor resistance speed control employing chopper – static slip power recovery
speed control scheme for speed control below synchronous speed.

Module 5 (7 hours)

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Concept of space vector – Clarke and Park transformation – field orientation principle –
Introduction to direct vector control of induction motor drives – decoupling of flux and
torque components - space vector diagram and block diagram [Ref.1].

Synchronous motor drives – v/f control – open loop control – self-controlled mode – load
commutated CSI fed synchronous motor.

Note: Simulation assignments can be given using modern simulation tools like MATLAB, PSIM,
PSpice, LTspice etc. from all modules of 2, 3, 4 and 5.

Text Books
1.G. K. Dubey, “Fundamentals of Electric Drives”, Narosa publishers, second edition, 2001
Reference Books.
1. Bimal [Link], “Power Electronics and and Motor Drives”, Academic press, An Imprint of
Elsevier, 2006.
2. Vedam Subrahmanyam, “Electric Drives Concepts and Applications”, MC Graw Hill
Education, second edition, 2011,New Delhi.
3. Dr. P. S. Bimbhra, “Power Electronics”, Khanna publishers, fifth edition, 2012.
4. Ned Mohan, Tore M Undeland, William P Robbins, “Power electronics converters
applications and design”, John Wiley and Sons Inc.,3rd edition
5. Muhammad [Link], “Power Electronics, Devices, Circuits and Applications”, Pearson, 3rd
edition, 2014
6. R Krishnan, “Electric Motor Drives: Modeling, Analysis, and Control”, Prentice Hall,
2001.
Module 1 (6 hours)

Introduction to electric drives – block diagram – advantages of electric drives – dynamics of motor load
system, fundamental torque equations, types of load – classification of load torque, four quadrant
operation of drives, Equivalent values of drive parameters- effect of gearing - steady state stability.

INTRODUCTION TO ELECTRIC DRIVES – BLOCK DIAGRAM

Systems employed for motion control are called drives. Prime movers shall be diesel or petrol engine, gas
or steam turbines, steam engines, electric motors etc for supplying mechanical energy for motion control.
Drives employing electric motors are called electrical drives.

Source may be a dc or ac (1-phase or 3-phase) source.

Power modulator converts the electrical energy of the source in the form suitable for the motor. For
example, if the source is dc and the motor is induction motor, then power modulator converts dc into a
variable frequency ac. Power modulator also limits the current within permissible values during transient

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operations like starting and braking.
Power modulator is usually a power electric converter like controlled rectifier, chopper, inverter,
ac voltage controller, cyclo-converter, matrix converter etc. Control unit produces the gate/base signals for
the converters.

PARTS OF ELECTRICAL DRIVES

Major parts are i) Electrical Motor ii) Power Modulator iii) Source iv) Load & v) Control Unit.
ELECTRICAL MOTORS
i) DC motors – separately excited dc motor, shunt motor, series motor and compound motor
ii) Induction Motors – Squirrel Cage Induction Motor, Slip Ring Induction Motor, Linear
Induction Motor
iii) Synchronous Motors – Wound field Synchronous Motor (cylindrical rotor type or salient pole
type) & Permanent Magnet Synchronous Motor
iv) Brushless DC Motor
v) Stepper Motor
vi) Switched Reluctance Motor

In the past, induction and synchronous motors were employed mainly for constant speed applications.
Variable speed applications were dominated by dc series motors. Now, ac motors are also used for variable
speed applications because of the development of power electronic circuits & devices.
DC DRIVES & AC DRIVES – COMPARISON
DC DRIVES AC DRIVES
Commutator makes the motor bulky, costly & No commutator. Motors are inexpensive (mainly
heavy. squirrel cage induction motor)
Highest speed and design rating are limited due to Speed & design rating have no upper limits.
commutation.
Commutator requires frequent maintenance. Motor is reliable & requires less maintenance.
It can be used in all locations.
Sparking at brushes makes it environmentally
unsuitable in certain locations.
Power converter is simple & inexpensive. Power circuits of the converter & its control are
complex.
Small power/weight ratio Large power/weight ratio
Fast response, wide speed range, smooth control Response depends upon the type of control.

Wound field & permanent magnet synchronous motors have higher full-load efficiency & power factor
compared to induction motors but cost, size and maintenance is more for same rating.
Brushless dc motor is almost similar to permanent magnet synchronous motors (but characteristics are that
of conventional brushed dc motor), but has lower cost and requires simpler and cheaper converter. It is
extensively used in high performance drives, computer disk drives, servo drives, robotics, electric vehicles
etc.
Stepper motor is popular for position control. A stepper motor rotates by a specific number of degrees in

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response to an input electrical pulse.
Switched reluctance motors have saliency in both stator & rotor. The stator consists of salient poles with
excitation windings on them, and the rotor has salient poles with no windings. The torque is produced by
the tendency of the rotor pole to align with the stator pole to maximize the stator flux linkage when the
winding of the stator pole is excited by a current.
Switched reluctance motors (power capability 100W to 100kW) are now commercially available for various
applications, ranging from low-power servo motors to high-power traction drives.
POWER MODULATORS

i) AC to DC converters
Single quadrant (motoring) operation is possible with a semi-converter (controlled bridge rectifier with half
number of diodes and half number of thyristors).
Two quadrant (motoring & regenerative braking) operation is possible with a full converter (controlled
bridge rectifier with thyristors only)
Four quadrant operation is possible with a dual converter.
ii) DC to DC converters (Chopper)
Single quadrant, two quadrant and four quadrant choppers are used.
iii) AC to AC converters
AC voltage controllers can be used for the control of induction motors with stator voltage control at constant
frequency.
Cyclo-converters or matrix converters (single stage ac to variable frequency ac conversion) can be used for
variable voltage & variable frequency output for the speed control of induction motors using stator
frequency control.
At present, for variable frequency voltage, two stage conversion is used. AC is first converted to fixed dc
using a diode bridge rectifier and this fixed dc is converted to variable magnitude variable frequency ac
voltage by using an inverter.
iv) DC to AC converters (Inverters)
Fixed dc voltage is converted to variable magnitude variable frequency ac. It can be voltage source inverter
or current source inverter. For output voltage control and for the reduction of harmonics, sinusoidal pulse
width modulation (SPWM) or space vector pulse width modulation (SVPWM) techniques are used.
SOURCES
In India, 1-phase or 3-phase 50Hz ac supplies are readily available. Low power drives are fed from 1-phase
source. Rest of the drives is fed from 3-phase source. Most of the motors are fed from 400V 3-phase supply
and large motors are operated with 3.3kV, 6.6kV or 11kV. For traction purposes, supply is 1-phase 25kV
ac, but 1500V dc series motors are usually used. For aircraft & space applications, 400Hz ac supply is
generally used to achieve high power to weight ratio for motors.
CONTROL UNIT
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Controls for a power modulator are provided by the control unit. Tacho meters, current, voltage sensors are
used take the feedback.
LOADS
The actual equipment that performs the desired job e.g: fans, pumps, steel rolling mills, Paper mills, flour
mills, compressors, blowers, conveyors, cranes, lifts, escalators, traction etc.

ADVANTAGES OF ELECTRIC DRIVES

1. Flexible control characteristics : The steady state and dynamic characteristics of electric
drives can be shaped to satisfy load requirements. The availability of power electronic
converters have made the control characteristics more flexible. Speed and torque and
transitions from one mode to another can be controlled smoothly and steplessly. The
automatic fault detection systems, programmable logic controllers, computers etc, control
the drive operation in a desired sequence.
2. Available in wide range of torque, speed and power
3. Electric motors have high efficiency , low no load losses and short time overloading
capability : Compared to prime movers, they have longer life, lower noise, lower
maintenance and cleaner operation
4. They are adaptable to almost any operating conditions such as explosive and radioactive
environment, submerged in liquids, vertical mountings and so on
5. Do not pollute the environment
 6. Can operate in all the four quadrants of speed-torque plane: Electric braking gives smooth
deceleration and increases life. Considerable saving of energy is achieved during
regenerative braking.
7. Unlike other prime movers, there is no need to refuel or warm up the motor
8. They are powered by electrical energy which has number of advantages over other forms
of energy.

FOUR QUADRANT OPERATION

In hoist drives, four quadrant operation occurs.
A hoist load consists of a rope wound on a drum coupled to the motor shaft. One end of the rope is tied to
a cage which is used to transport man or material from one level to another level. Other end of the rope has
a counter weight. Weight of the counter weight is chosen to be higher than the weight of an empty cage but
lower than a fully loaded cage.
Forward direction of motor speed will be one which gives upward motion of the cage.
The quadrant I operation of a hoist requires the movement of the loaded cage upward, which corresponds
to the positive motor speed which is in anticlockwise direction. Load torque will be acting in clockwise
direction since the difference between the weights of loaded cage and counterweight is positive. Developed
motor torque is always opposite to the load torque and hence the motor torque will be in anticlockwise
direction. Since the motor torque and speed are in same direction (anticlockwise), power (equal to product
of developed torque and speed) is positive. The motor is drawing power from the source, hence it is called
as motoring operation.

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In the second quadrant the cage movement remains upwards. The empty cage is moving upwards. Since
the weight of the counter weight is greater than the weight of the empty cage, load torque is acting in
anticlockwise direction. Hence, motor torque will be in clockwise direction. Here, since the direction of
rotation is anticlockwise and developed torque is clockwise, power is negative. Regenerative braking may
occur limiting the speed of rotation. This is forward braking.
In the third quadrant, the direction of rotation reverses; the empty cage is lowered by the hoist. Motor is
rotating in clockwise direction and the load torque is acting anticlockwise. Hence, the developed torque is
clockwise. Since both direction of rotation and speed are clockwise, power is positive and this operation is
reverse motoring. The motor is drawing power from the source, hence it is called as motoring operation.
Similarly, since the loaded cage is moving downward, load torque is clockwise and developed torque is
anticlockwise. Power is negative and this operation is reverse braking.
Tutorial 1 : Draw the third and fourth quadrant operation of an electric drive.

FUNDAMENTAL TORQUE EQUATION

A motor generally drives a load through some transmission system. While motor always rotates, the load
may rotate or may undergo a translational motion. Load speed may be different from that of motor. But, it
is convenient to represent the motor load system by an equivalent rotational system as shown below.

J = Moment of inertia of motor-load system referred to the motor shaft, kg-m2

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ωm = Instantaneous value of angular velocity of motor shaft, rad/sec
T = Instantaneous value of the torque developed by the motor, N-m
T l = Instantaneous value of the load torque referred to the motor shaft, N-m
The fundamental torque equation for the motor load system is given by
d
T  T  d ( J m )  J m  m dJ
l dt dt dt
For drives with constant inertia,
d m
T  Tl  J  (1.1)
dt
d m d m
Developed torque is counter balanced by the load torque T l and a dynamic torque J . J is
dt dt
present only during transient operations like starting, braking, speed change and speed reversal.
Load torque includes friction and windage torque of motor.
Drive accelerates or decelerates depending on whether T is greater or less than T L.

COMPONENTS OF LOAD TORQUES

Load torque can be divided into the following components :
i) Friction torque T F : Friction will be present at the motor shaft and also in various parts of the load.
Friction torque can be resolved into three components. Friction at zero speed is called stiction or
static friction T s. In order for drive to start, the motor torque should at least exceed stiction. Since
T s is present only at standstill, it is not taken into account in the dynamic analysis.
 Friction torque which varies linearly with speed is called viscous friction and is given by Tv  Bm
. Friction torque which is independent of speed is called Coulomb friction T c.

Fig. 5 (a) Frictional torque Fig. 5 (b) Components of Frictional torque

ii) Windage torque T W: When a motor runs, wind generates a torque dominates and opposing the
motion which is known as windage torque and is given by Tw  Cm 2 .
iii)
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Torque T L required to do the useful mechanical work : Nature of this torque depends on
particular application. It may be constant or independent of speed.
In general
d
Tl  J  TL  B  TC  C 2
dt
In many applications, Tc  Cm is very small compared to Bm and negligible compared to T L.
2

So
d m
Tl  J  TL  Bm  (1.2)
dt
Also for finite speeds
Tl  TL  B  TC  C 2  (1.3)

ACTIVE AND PASSIVE TORQUES

Various load torques can be broadly classified into i) active load torque and ii) passive load torque.
Load torques which has the potential to drive the motor under equilibrium conditions are called active load
torques. Such load torques usually retains their sign when the direction of the drive rotation is changed.
Example : torque due to gravity. In hoist, when a loaded cage is moving up, the active torque due to gravity
opposes the motion. Therefore, the driving motor has to generate extra torque to overcome the torque due
to gravity. On the other hand, when the loaded cage is going down, it is driven by the torque due to gravity.
The motor produces braking torque to limit the speed within the safe values.
Load torques which always opposes the motion and change their sign on the reversal of motion are called
passive load torques. Example : torque due to friction.

NATURE & CLASSIFICATION OF LOAD TORQUES

Fan, Compressors, Aeroplanes, Centrifugal pumps, Ship-propellers, Coilers, high speed hoists, traction,
Blowers etc..where load torque is function of speed
i) Load torque may be constant at all speeds,
Example : Cranes during hoisting, compressor
Note: Load torque by compressor that supplies constant pressure system
may vary a little with variation of speed.

ii) Load torque proportional to square of the speed

TL  m2
Example : Fans, Centrifugal pumps, ship propellers, Aeroplanes, Blowers
etc..
iii) Load torque proportional to speed (this is an uncommon type
of load characteristics and is usually observed in a complex
form of load)
Example : Separately excited dc generator connected to constant load
resistance
For a separately excited dc generator,
km  (km / R)
TL 

iv)
m
P


1
VI
m

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m
 m

Load torque inversely proportional to the speed

TL  or T m  constant (constant power at all speeds)

m
Example : Paper mill, Coiler drive
Note: A fan drive operating at constant speed if, of course, developing
constant power. But in applications like paper mill it is desirable to
develop constant power over a range of speed.
v) Load torque proportional to friction
Eg, Traction load

Compressor, pump and fan type loads required operation in the first quadrant only since their operation is
unidirectional. They are one quadrant drive systems.
Transportation drives requires operation in both directions. It is a two quadrant drive system.
DYNAMIC CONDITIONS OF A DRIVE SYSTEM
Dynamic or transient conditions occur in electric drive systems, when the operating point changes from one
steady state condition to another, following a change introduced in the system variables. These variables
may be mechanical (speed, torque etc) or electrical (voltage, current etc).
These conditions generally exist during starting, braking and speed reversal of the drive. The dynamic
conditions arise in a variable speed drive when transition from one speed to another is required. The drive
may also have transient behavior if there are sudden changes of load, supply voltage or frequency.
The energy storing elements (mechanical inertia J, electrical inductance L) in the drive system are
responsible for the delay in response following a disturbance.
Knowledge of dynamic behavior is essential for the design of control circuits, for the correct choice of
motors and for reducing losses during the starting and stopping of drives.
The dynamic behavior of a drive has a close relation to its stability. A drive is said to be stable if it can go
from one state of equilibrium to another following a disturbance in one of the parameters of the system.
Stability can be identified as either steady-state or transient.
The conditions of stability depend on the operating point.
Fundamental torque equation is given by
d
TJ  B  TL
dt
Considering B also as part of the load torque, the torque equation is further simplified to
d d
TJ  Tl or J  T  Tl
dt dt
If the electromagnetic torque developed is greater than the load torque including the friction torque, the
motor accelerates.
d
Ie. if T  Tl ; 0 ; ω increases

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dt
If the electromagnetic torque developed is less than the load torque including the friction torque, the motor
decelerates.
d
Ie. if T  Tl ; 0 ; ω decreases
dt
If both torques are equal, the motor runs at constant speed.
d
Ie. if T  Tl ; 0 ; ω = constant
dt
SIGN CONVENTIONS
d
Inertia torque, J , has positive sign (opposes motion) during acceleration and negative sign (aids
dt
motion) during retardation. It exists during only dynamic condition.
T is positive during motoring. T l is negative for passive torques during motoring.
d
T  Tl  J
dt
If T  Tl is positive, acceleration takes place.
If the direction of motion is reversed, the equation becomes
d d
T  Tl   J or T  Tl  J
dt dt
d
If T l is an active torque, T  Tl  J when the potential energy due to T l opposes T.
dt
d  when it aids T.
T  Tl  J
dt
In general, the equation of motion can be written as
 d
T  Tl  J
dt

LOADS WITH ROTATIONAL MOTION

The load may be coupled to the shaft of the driving motor either directly or through a transmission system
comprising, gears, pulleys or belts. If the speeds of the motor and load are not same, it is coupled to each
other by means of gears or belts.
Consider a motor driving two loads one coupled directly to its shaft and other through a gear with N 1 and
N2 teeth.
Let the moment of inertia & friction of motor and load directly coupled to its shaft be J o & Bo respectively
and motor speed and torque of the directly coupled load be ω 1 and T L0 respectively.
Let the moment of inertia, friction, speed and torque of the load coupled through gear be J 1 B1, ω1 and T L2.
The gear ratio is N1/N2.
m1 N2
Gear tooth ratio is  a
m N1 1

1
2
1
2
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If the losses of transmission are neglected, Since the kinetic energy remains unchanged,
J m 2  J om 2  J1m12 where J is the equivalent moment of inertia of both loads referred to motor shaft
2
J  J o  a1 J1  (1.4) since m1  a1m
2

Similarly, B  Bo  a1 B0
2

Power at the loads and motor must be the same. If transmission efficiency of the gears be , then
T 
TLm  TL 0m  L1 m1 where T L is the equivalent torque referred to motor shaft.

aTL1
TL  TL 0   (1.5)

If in addition to load directly coupled to the motor with inertia J 0, there are m other loads with inertia J1,
J2, ….., Jm and gear teeth ratios of a1, a2,…, am then

J J  a 2 J  a 2 J  .....  am
2J
m
O 1 1 2 2
aT a T amT
T  T  1 l1  2 l 2  ....  lm
l lO 1 2 m
LOADS WITH TRANSLATIONAL MOTION
Consider a motor driving two loads , one coupled directly to its shaft and other through a transmission
system converting rotational motion to linear motion.
Let the moment of inertia of motor and load directly coupled to shaft be J 0, load torque of the directly
coupled load be T l0 and speed be ωm
Let the mass, velocity and force of the load with translational motion be M 1 (kg) , v1 (m/s) and F1 (N)
respectively.
If the transmission losses are neglected , then kinetic energy due to equivalent inertia J must be the same as
kinetic energy of various moving parts. Thus
1 J2  1 J 2  1 M v2
2 m 2 O m 2 11
 v 
2
J  J  M  1   (1.6)
 

O 1 m 

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Fig.7 Loads with translation motion

Similarly power at the motor and load should be same. So

Fv
T m T m  1 1
1 lo 1 where η1 is the efficiency of transmission

F1  v1 
Tl  Tlo     (1.7)
1  m 
For m other loads
 2 2 2
 v   v  v 
J  J  M  1   M  2   ...  M m  m 
 m  2  m   m 
O
   

F  v  F v  F v 
T  T  1  1   2  2   ....  m  m 
lo   m    m   m  m 
1  2 

Tutorial 2
A motor drives two loads . One has rotational [Link] is coupled to the motor through a reduction gear
with a=0.1 and efficiency of 90%. The load has a moment of inertia of 10kg-m2 and a torque of 10 N-m.
Other load has translational motion and consists of 1000kg weight to be lifted up at an uniform speed of
1.5m/s . Coupling between this load and the motor has an efficiency of 85%.Motor has an inertia of 0.2 kg-
m2 and runs at a constant speed of 1420 rpm. Determine equivalent inertia referred to the motor shaft and
power developed by the motor ?
Solution
The total moment of inertia referred to the motor shaft
2
 v 
J  J O  a12 J1  M1  1 
 m 
Here JO = 0.2kg-m2 , a1 = 0.1 , J1 = 10 kg-m2 , v = 1.5m/s
m  1420    / 30  148.7rad / sec
2
 1.5 
J  0.2   0.1  10  1000 
2
  0.4kg  m
2

Tl 
a1Tl1
1

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F1  v1 
 
1'  m 
 148.7 

1  0.9, a1  0.1, Tl1  10 Nm,1'  0.85, F1  1000  9.81N

v1  1.5m / s,m  148.7rad / sec

0.1  10 1000  9.81  1.5 
Tl      117.53N  m
Power
0.9 0.85  148.7 
P T m
1
P = 117.53 x 148.7 = 17.476kW

STEADY STATE STABILITY

A system is in equilibrium condition, if there is no disturbance. In the presence of a disturbance, the
equilibrium conditions are disturbed and the drive tries to take a new equilibrium position under the new
input conditions. The system is said to be stable if some time after the appearance of a disturbance it attains
a new equilibrium condition. The system is said to be unstable if it comes to rest or has a continuous increase
in speed following the disturbance i.e. the system is unable to take up a new equilibrium position. The
disturbances may be external or internal to the drive.
Stability studies can be easily done using the steady-state speed-torque curves assuming that in cases of
disturbances the operating point moves along these curves.
Consider the typical speed-torque curves of an induction motor.

Consider the operating point A. A small decrease in speed is followed by an increase in the motor torque
which accelerates the load and brings it back to the original equilibrium point A. The motor successfully
returns to its original point of equilibrium in case of a small increase in speed also. Hence point A is a
stable.
Consider the operating point B. A small decrease in speed decreases the motor torque below load torque.
Hence, the motor is further decelerated and since the process is cumulative, motor finally comes to rest. If
there is a small increase in speed, the developed torque is greater than the load torque and the motor is
further accelerated. The process is cumulative and the speed goes on increasing. The motor does not return
to its original operating point B. Hence point B is unstable.
At point C, with decrease in speed, the developed torque T is greater than load torque T L , motor is

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accelerated and reaches its original point of operation C.
At point D, with decrease in speed, the torque developed decreases but since T  TL , motor is accelerated
and the motor reaches its original point of operation. Hence, point D is also stable.
Hence, the machine is STABLE if its speed-torque curves are such that
i) for a decrease in speed, the motor torque is greater than the load torque
ii) for an increase in speed, the load torque is greater than the motor torque.

For the figure shown, point A is stable, B is stable, C is

unstable and D is stable.
At equilibrium point, following condition should be
satisfied,

dTl dT
For the equation d  d
m m

let a small perturbation in speed Δωm, results in ΔT, ΔTL,

Perturbations in T and TL , Therefore

d (m  m )
(T  T )  (Tl  Tl )  J   A
dt
 dm
We know that T  Tl  J dt  ( B)
Subtracting (B) from (A) we get
d m
J  T  Tl   C 
dt
 dT 
T    m   D 
 dm 
 dT 
Tl   l  m   E 
 d m 
d m  dTl dT 
J    m  0   F 
Substituting (D) and (E) in (C) we get dt  m
d  d m 

This is first order linear differential equation. If initial deviation in speed at t = 0 be Δωm0 then
the solution of eqn (F) will be
 1  dT dT  
m   m 0  exp   l   t   1.8
 J  d m d m  
An operating point will be stable when Δωm approaches zero as t approaches infinity. For this

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to happen the exponent in eqn (1.8) must be negative.
So this will derive into the inequality dTl  dT  (1.9)
dm dm

CALCULATION OF TIME IN TRANSIENT OPERATION

Starting, braking, speed change and speed reversal are transient operations. Time taken during
transient operation is calculated by solving the equation, T  Tl  J d  .
dt
m 2
J
t 
 T T
d
l
m
m1

Transient operation is considered to be over when 95% change in speed takes place. For example,
when speed changes from ωm1 to ωm2, time taken for the speed to change from ω m1 to
ωm1+0.95(ωm2- ωm1) is considered to be equal to the transient time. For more accurate estimation
during speed reversal, it is better to take speed change from ω m1 to 0.95ωm2 for time calculation.
Problem: Calculate the starting time of a drive with following parameters:- J=10kg-m2,
T=15+0.5ωm and Tl=5+0.6ωm.
Under steady conditions,
T-Tl=0
15+0.5ωm- (5+0.6ωm)=0
ωm =100rad/s
ωm2 = 0 + 0.95 x 100 = 95rad/s
m 2
10
t 
 10  0.1 m
dm  299.57s
m1

Tutorial 3
Problem: A drive has following parameters:- J=10kg-m2, T=100-0.1N and Tl=0.05N where N is
the speed in rpm. Initially the drive is operating in steady state. Now it is to be reversed. For this
motor characteristics is changed to T = -100-0.1N. Calculate the time of reversal. Under steady
conditions,
T-Tl=0
100-0.1N-0.05N=0
N1=666.7rpm
After reversal , for steady-state speed , noting that the load is passive
-100-0.1N-0.05N = 0
N = -666.7rpm
After reversing
dm
J  100  0.1N  0.05 N
dt
N2 = -0.95 x 666.7 = -633.4rpm
Integrating the above equation for finding time, we get t =25.58 s

Tutorial 4
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1. A drive has following parameters J=10 kg-m2, T=15 + 0.05N N-m and Tl=5+0.06N N-m
where N is the speed in rpm. Initially the drive is in working in steady state. Now the drive
is braked by electrical braking. Torque of the motor in braking is given by T = -10 - 0.04N
N-m. Calculate the time taken by the drive to stop.
2. A motor drives four loads, two have rotational motion and two translational motion.
Moment of Inertia of the motor is 1.2 kg-m2. Motor runs at a speed of 1000 rp. Following
are the details about the loads

Load Type of Motion Speed Inertia/ Mass Torque/ Mass

I Rotational 200 rpm 7 kg-m2 10 N-m
II Rotational 200 rpm 5 kg-m2 6 N-m
III Translational 10 m/s 10 kg 20 N
IV Translational 10 m/s 20 kg 30 N

Calculate the equivalent inertia of the system referred to the motor shaft and power rating
of the motor, assuming negligible loss in the transmission system.
Assignment 1 questions included from Module 1
[Link] Questions CO Marks
1 Derive the condition for steady state stability of a drive using 1 0.5
Laplace transform
2 Write and solve a problem based on time taken for speed change 1 1
for an electrical drive
3 Write and solve a problem based on an additional load of 1 1
rotational motion (for Roll numbers 1 to 33) and an additional
load of translational motion (for Roll numbers 34 to 66) from the
topic equivalent drive parameters

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