EE3012-Electrical Drives Assignment Key

Assignment No: 1 Total Marks: 20

Assignment Questions 1. A motor is coupled to a load having the following characteristics:

Motor: Tm=15-0.5ωm Load: TL=0.5 ωm2. Find out the stable operating point for this condition and determine
their steady state stability. 2. A motor having a suitable control circuit develops a torque given
by the relationship Tm=pω+q, where p and q are positive constants. This motor is used to drive a load whose
Torque is expressed as TL = r ω2+s, where r and s are some other positive constants. The total inertia of the
rotating masses is J. a) Determine the relations amongst the constant p, q, r and s in order that the motor
can start together with the load and have an equilibrium operating speed? b) Calculate the equilibrium
operating speed. 3. A 220V, 1550 rpm ,10A separately excited dc motor is fed from a single
phase fully controlled rectifier with an ac source voltage of 230V, 50 Hz Ra=3 ohms. Conduction can be
assumed to be continuous. Calculate the firing angle for half the rated motor torque and 550 rpm.
Explain about the chopper control of DC series motor
Assignment No: 2 1. Compare VSI and CSI fed Induction motor drives Total marks: 20
2. Explain the concept of constant air gap flux control of Induction motor drive.
3. Explain with the block diagram of constant marigin angle control synchronous motor drive.
4. Explain in detail about sinusoidal PMAC motor fed from Voltage Source Inverter

Assignment No: 3
1. Discuss in detail about the design of speed controller of closed loop speed control system of separately
excited DC motor
2. Discuss the use of simulation software package for design of controller for drives.
Response: Here are complete, step-by-step solutions and explanations for all questions across Assignments
1, 2, and 3.
Total Marks:20

Assignment No. 1
Question 1
Problem Statement

A motor is coupled to a load with:

Motor torque: Tm ​
= 15 − 0.5ωm ​

2
Load torque: TL ​ = 0.5ωm ​

Find the stable operating point(s) and determine their steady-state stability.

Solution

Step 1: Find Operating Speeds (Equilibrium Points)

At equilibrium, motor torque equals load torque (Tm ​ = TL ):​

2
15 − 0.5ωm = 0.5ωm
​ ​

Rearranging into standard quadratic form:

2
0.5ωm​
+ 0.5ωm − 15 = 0
​

Multiply the entire equation by 2 to simplify:

1/10
 Electric Drive System Assignment Solutions

2
ωm + ωm − 30 = 0
​ ​

Factoring the quadratic equation:

(ωm + 6)(ωm − 5) = 0
​ ​

This yields two roots:

ωm = 5 rad/s
​

ωm = −6 rad/s
​

Since speed is non-negative for standard forward operation, ωm ​ = 5 rad/s is the physical operating speed.

Step 2: Steady-State Stability Criterion

The condition for steady-state stability of a motor-load system is:

dTL dTm
− >0
​ ​

​ ​

dωm dωm ​ ​

Let's evaluate the derivatives:

dT
= d 2
1. Load derivative: dωmL dωm (0.5ωm ) = ωm
​

​ ​ ​ ​

​ ​

dTm
2. Motor derivative: dω
m
​

​
​ = d
dωm (15 ​
​
− 0.5ωm ) = −0.5 ​

Substitute these back into the stability criterion:

ωm − (−0.5) > 0 ⟹ ωm + 0.5 > 0

​ ​

At ωm ​
= 5 rad/s:

5 + 0.5 = 5.5 > 0 (Satisfied)

Thus, the operating point at ωm ​ = 5 rad/s is STABLE.

(Note: For ωm ​ = −6 rad/s, −6 + 0.5 = −5.5 < 0, which would be unstable).

Question 2
Problem Statement

A motor develops torque Tm ​ = pω + q , driving a load TL = rω 2 + s, where p, q, r, s are positive constants

​

and total inertia is J .

1. Determine the relations among constants p, q, r, s so the motor can start together with the load and
have an equilibrium operating speed.

2. Calculate the equilibrium operating speed.

Solution

a) Conditions for Starting and Equilibrium

1. Starting Condition (ω = 0): For the motor to start from standstill, the motor starting torque (Tm0 ) must ​

strictly exceed the static load torque (TL0 ): ​

2/10
 Electric Drive System Assignment Solutions

At ω = 0: Tm0 = q and TL0 = s.

​ ​

Starting Condition: q >s

2. Equilibrium Condition (Tm ​ = TL ): ​

rω 2 − pω + (s − q) = 0

For a real, positive equilibrium speed to exist, the discriminant (Δ) of this quadratic equation must be
greater than or equal to zero:

Δ = (−p)2 − 4(r)(s − q) ≥ 0

Since q > s, (s − q) = −(q − s) where (q − s) > 0. Rewriting:

p2 + 4r(q − s) ≥ 0

Because p, r > 0 and (q − s) > 0, this discriminant condition is always satisfied.

b) Equilibrium Operating Speed

Using the quadratic formula for rω 2 − pω − (q − s) = 0:

p± p2 + 4r(q − s)
ω=
​

2r
​

Since speed ω must be positive, we select the positive root:

p+ p2 + 4r(q − s)
ωe =
​

2r
​ ​

Question 3
Problem Statement

DC Motor Parameters: 220 V, 1550 rpm, 10 A, armature resistance Ra = 3 Ω. ​

Supply: Single-phase fully controlled rectifier, Vs ​ = 230 V, 50 Hz.

Operating Conditions: Half the rated torque, speed = 550 rpm, continuous conduction.
Goal: Calculate the firing angle (α).

Solution

Step 1: Calculate Rated Back EMF (Eb1 ) ​

At rated conditions (V = 220 V, Ia1 = 10 A, N1 = 1550 rpm):

​ ​

Eb1 = V − Ia1 Ra = 220 − (10 × 3) = 190 V

​ ​

The back EMF constant Kb (where Eb

​ ​ = Kb ⋅ N ) is: ​

190
Kb = ≈ 0.12258 V/rpm
1550
​ ​

3/10
 Electric Drive System Assignment Solutions

Step 2: Torque & Current at Target Condition

Motor torque is directly proportional to armature current (T ∝ Ia ). ​

At half the rated torque (T2 ​ = 0.5T1 ), the required armature current is:
​

Ia2 = 0.5 × 10 A = 5 A
​

Step 3: Calculate Back EMF at 550 rpm (Eb2 ) ​

190
Eb2 = Kb × N2 = ( ) × 550 = 67.42 V
1550
​ ​ ​ ​

Step 4: Calculate Required Average Converter Output Voltage (Vo ) ​

Vo = Eb2 + Ia2 Ra = 67.42 + (5 × 3) = 82.42 V

​ ​ ​ ​

Step 5: Determine Firing Angle (α)

For a 1-phase fully controlled converter in continuous conduction:

2Vm 2 2V s
Vo = cos α = cos α
​ ​ ​

​ ​ ​

π π
Where Vs ​ = 230 V:

2 2 × 230
Vo = cos α ≈ 207.07 cos α
​

​ ​

π
Setting Vo ​ = 82.42 V:
82.42
cos α = ≈ 0.3980
207.07
​

α = arccos(0.3980) ≈ 66.55∘

Question 4: Chopper Control of DC Series Motor

Chopper control offers smooth, step-less control of DC series motors used extensively in electric traction
(trains, trams, EVs) due to high efficiency and fast dynamic response.

+------------------- Chopper Scheme -------------------+

| |
+----+---[ Chopper / IGBT ]----+-------( Series Field )----+|
| | | |
(DC) +--------[ D_fw ]---------+-----------( Armature )-----+|
| |
+-----------------------------------------------------------+

1. Principles of Operation

A DC chopper converts fixed DC input voltage (Vs ) into variable DC voltage (Vo ) by high-frequency switching.
​ ​

Average Output Voltage:

4/10
 Electric Drive System Assignment Solutions

Ton
Vo = d ⋅ Vs =
​

Vs
Ton + Toff
​ ​ ​ ​

​ ​

(where d is duty cycle, 0 ≤ d ≤ 1)

Speed-Torque Relation: In a DC series motor, Eb ​ = Ka ϕωm . Since field flux ϕ ∝ Ia (un-saturated):

​ ​ ​

V o = E b + I a (R a + R f )
​ ​ ​ ​ ​

d ⋅ V s − I a (R a + R f )
ωm =
​ ​ ​ ​

Ka k f I a ​ ​ ​

2. Modes of Operation

1. Motoring Mode (Class A Chopper / First Quadrant):

Chopper turned ON: Current flows from DC source through motor field and armature.

Chopper turned OFF: Freewheel diode (Dfw ) provides a path for continuous motor current driven
​

by stored inductive energy.

2. Regenerative Braking Mode (Class B Chopper / Second Quadrant):

Motor acts as a generator. Mechanical energy is converted to electrical energy and fed back to the
supply, saving energy during deceleration.

3. Key Advantages

Energy Savings: Eliminates lossy series rheostats.

Smooth Acceleration: Duty ratio d varies continuously, providing steady torque without jerky
mechanical step changes.

Fast Dynamic Response: Electronic switching enables instantaneous torque control.

Assignment No. 2
Question 1: VSI vs. CSI Fed Induction Motor Drives

Feature Voltage Source Inverter (VSI) Drive Current Source Inverter (CSI) Drive

DC Link Large Capacitor (C ) keeps link Large Inductor (L) keeps link current
Component voltage stiff. constant.

Input Source Constant DC Voltage source. Constant DC Current source.

Voltage is a stepped/PWM wave; Current is a square wave (120∘

Output Waveforms
Current is sinusoidal-ish. conduction); Voltage is sinusoidal-ish.

Freewheeling Required across switches for reactive Not required (diodes present are for
Diodes current flow. commutation).

Short-Circuit Poor; short-circuit across DC bus High; large DC link inductor naturally limits
Protection destroys switches instantly. short-circuit current.

Regenerative Requires additional anti-parallel Simple; natural regeneration by reversing

Capability converter on supply side. DC link voltage polarity.

5/10
 Electric Drive System Assignment Solutions

Feature Voltage Source Inverter (VSI) Drive Current Source Inverter (CSI) Drive

Dynamic Fast and suitable for multi-motor Slower response; suitable for single heavy-
Response drives. duty motor applications.

Question 2: Concept of Constant Air Gap Flux Control of Induction

Motor Drive
1. Fundamental Principle

In an induction motor, back EMF per phase is proportional to air gap flux (Φm ) and stator frequency (f ):
​

Es
E s ≈ k ⋅ f ⋅ Φm ⟹ Φm ≈
​

​ ​ ​ ​

f
To maintain maximum electromagnetic torque capability without saturating the magnetic core, air gap flux (
Φm ) must be held constant at its rated value.
​

2. Regions of Operation

Voltage (V)
Flux (Φ) ^ Constant Flux Region | Field Weakening Region
| (Constant V/f Ratio) | (Constant Voltage)
V_r + . . . . . . . . . . . . . . . . +----------------------- (V = V_rated)
| /|
Φ_r +-------------------------------/ | . . . . . . . . . . . (Φ drops ~ 1/f)
| / |
| / |
+----------------------------+----+---------------------------> Frequency (f)
f_rated

1. Below Rated Speed (f < frated ) — Constant Torque Region:

​

Voltage is scaled linearly with frequency (V /f = constant) to keep flux Φm constant. ​

At very low frequencies, stator resistance drop (Ia Rs ) becomes dominant relative to Es . Voltage
​ ​ ​

boost (Vboost ) is applied at low speeds to compensate.

​

2. Above Rated Speed (f > frated ) — Field Weakening Region:

​

Stator voltage cannot exceed rated insulation limits (V = Vrated ). ​

Increasing frequency f reduces flux (Φm ​ ∝ 1/f ), lowering available maximum torque while
keeping power constant.

Question 3: Constant Margin Angle Control of Synchronous Motor

Drive
In a Load Commutated Inverter (LCI) fed synchronous motor drive, the inverter SCRs are commutated
naturally by the motor’s generated back EMF.

+--------------------------------------------------+
| |
[Speed Ref] ---->(+)--->[Speed Controller]--->[Current Controller] |
- | |
^ v |

6/10
 Electric Drive System Assignment Solutions

| [Rectifier Control Angle α_r]|

| | |
| v |
[Speed Sens] <----+---(Synchronous Motor) <--- [LCI Inverter] <-----+
& Position ^ ^
| |
+--[Position Sensor]---+---->[Margin Angle Control (γ)]

Operating Mechanism

1. Margin Angle (γ ): Defined as the angle between the time when inverter SCR current drops to zero and
the time when its voltage turns positive again.

γ = 180∘ − (α + u)

(where α is inverter firing angle, u is commutation overlap angle)

2. Why Keep γ Constant?

If γ < ωtq (where tq is thyristor turn-off time), commutation fails, causing a short-circuit fault
​ ​

across the inverter.

If γ is set too large, motor power factor degrades significantly.

3. Control Loop:

Absolute position sensor (or back-EMF sensing) tracks rotor position.

The control circuit computes overlap angle u (which grows with load current) and dynamically
adjusts firing angle α to keep margin angle γ fixed at a minimal safe value (15∘ − 20∘ ).

Question 4: Sinusoidal PMAC Motor Fed from Voltage Source

Inverter
A Sinusoidal Permanent Magnet AC motor (often termed Permanent Magnet Synchronous Motor or PMSM)
uses sinusoidal stator windings and permanent magnets on the rotor to yield a sinusoidal back EMF
waveform.

[DC Link Voltage] ---> [ 3-Phase Voltage Source Inverter (VSI) ]

|
| 3-Phase Sinusoidal PWM Currents
v
[ Sinusoidal PMAC / PMSM ]
|
v
[ Rotor Encoder / Resolver ]

1. Key Features

Back EMF: Purely sinusoidal e(t) = Em sin(ωt).

​

Torque Production: Smooth, pulseless electromagnetic torque produced by continuous interaction

between sinusoidal stator currents and rotor flux.

2. VSI Inverter Scheme

The motor is fed from a 6-switch IGBT/MOSFET 3-phase VSI using Sinusoidal PWM (SPWM) or Space
Vector PWM (SVPWM).

7/10
 Electric Drive System Assignment Solutions

Stator current reference signals are generated using closed-loop Field Oriented Control (FOC/Vector
Control).

3. Torque Equation
3
Te = P [λm iq + (Ld − Lq )id iq ]
2
​ ​ ​ ​ ​ ​ ​ ​

For surface-mounted PM motors (Ld ​ = Lq ), torque simplifies to:

​

3
Te = P λm iq
2
​ ​ ​

(Torque is directly controlled by quadrature current iq , keeping id ​ ​ = 0 for maximum efficiency).

Assignment No. 3
Question 1: Design of Speed Controller in Closed-Loop Speed
Control System
A dual-loop control architecture is standard for separately excited DC motor drives: an Inner Current Loop
(fast dynamics) and an Outer Speed Loop (slower dynamics).

Outer Loop (Speed) Inner Loop (Current)

r_speed +---+ Ref Current +---+
----->(+)----->|PI |------------------>(+)-->|PI |----->[Converter]---->[DC Motor]
- +---+ - +---+ |
| Speed Controller | Current Controller |
| | |
+--[ Tachometer / Encoder ]------+-------[ Current Sensor ]----------+

Design Procedure

Step 1: System Modeling

1. Motor Armature Transfer Function:

Ia (s) 1/Ra
(where τa = )
La
Ga (s) = =
​ ​ ​

Va (s) − Eb (s) 1 + sτa

​ ​ ​ ​

​ ​ ​ Ra ​

2. Mechanical System Transfer Function:

ωm (s) 1/B
(where τm = )
J
Gm (s) = =
​

Te (s) − TL (s) 1 + sτm

​ ​ ​ ​

​ ​ ​ B

Step 2: Inner Current Loop Design

The current loop is designed first. Because electrical time constant τa ​ ≪ τm , speed is treated as
​

constant during current transients.

A Proportional-Integral (PI) controller Gci (s) ​ = Kpi 1+sτ

sτii
​
ii
is selected.
​
​

Pole-zero cancellation sets τii ​ = τa . ​

The closed-loop current transfer function is approximated as a first-order lag with equivalent time
constant τic .
​

8/10
 Electric Drive System Assignment Solutions

Step 3: Outer Speed Loop Design

The speed controller takes speed error eω (s)

​ = ωref (s) − ωm (s) and outputs current reference Ia∗ .
​ ​ ​

1. Open-Loop Speed Transfer Function:

1
Gol,s (s) = Gcs (s) ⋅ ( )⋅( ) ⋅ Kω
Kt ​

1 + sτic Js + B
​ ​ ​ ​ ​

(where Kt is torque constant, Kω is speed feedback gain)

​ ​

2. Controller Selection: A PI Controller is used:

1
Gcs (s) = Kps (1 +
​ ​ ) ​

sTis ​

3. Tuning via Symmetric Optimum Criterion: Because the open-loop contains two integrators/delays, the
Symmetric Optimum method is applied to maximize phase margin at crossover frequency ωc : ​

Tis = a2 τic
​ ​

J
Kps =
a ⋅ Kt ⋅ Kω ⋅ τic
​ ​

​ ​ ​

(where factor a ≈ 2 to 4 yields optimal damping with minimal overshoot).

Question 2: Use of Simulation Software Packages for Drive

Controller Design
Modern drive engineering relies heavily on simulation software like MATLAB/Simulink (Simscape Electrical),
PLECS, and PSIM.

+--------------------------------------------------------------+
| SIMULATION WORKFLOW |
| |
| [Mathematical Model] --> [Offline Simulation in Simulink] |
| | |
| v |
| [Hardware-In-Loop (HIL)] <-- [Controller Tuning & Code Gen] |
+--------------------------------------------------------------+

Key Roles & Benefits

1. System Modeling & Rapid Prototyping:

Allows coupled modeling of power electronics switches, multi-phase electric machines, mechanical
loads, and digital controllers in a unified environment.

2. Control Algorithm Tuning:

Engineers can tune PI/PID gains, implement field-oriented control (FOC), or design sliding
mode/fuzzy logic controllers without risking hardware damage.

Dynamic responses to step load changes or reference speed changes can be analyzed under ideal
and non-ideal conditions.

3. Non-Ideality Analysis:

Enables evaluation of system behavior under realistic conditions: inverter dead-time distortion,
sensor noise, magnetic saturation, and thermal limits.

9/10
 Electric Drive System Assignment Solutions

4. Automated C-Code Generation & HIL Testing:

Embedded coder tools convert Simulink control blocks directly into ANSI C code targeting
DSPs/Microcontrollers (e.g., TI C2000).

Hardware-in-the-loop (HIL) simulators (like dSPACE or Opal-RT) run physical motor models in real
time to test real control hardware safely before commissioning.

User prompt: in .docx format

Response: Your Word document (.docx) containing the detailed solutions and explanations for all three
assignments is ready.

[file-tag: code-generated-file-ae677965-d17a-46f4-92cb-b313d7533796]

Summary of Document Contents:

Assignment 1:

1. Complete quadratic derivation for motor-load steady-state operating points and stability evaluation (
dω − dω > 0).
dTL​ dTm ​

​ ​

2. Motor-load starting condition (q > s) and equilibrium speed derivation (ωe ). ​

3. Step-by-step firing angle calculation (α ≈ 66.55∘ ) for a single-phase fully controlled converter DC
drive.

4. Detailed operating principles and equations for chopper-controlled DC series motors.

Assignment 2:

1. Styled comparison table for VSI vs. CSI fed Induction Motor drives.

2. Constant air-gap flux (V /f ) control principles across constant torque and field weakening regions.

3. Constant margin angle (γ ) control mechanism for LCI-fed synchronous motor drives.

4. Sinusoidal PMAC (PMSM) motor drives fed by Voltage Source Inverters.

Assignment 3:

1. Detailed mathematical transfer function modeling and controller tuning (Symmetric Optimum) for
closed-loop DC motor speed control.

2. Practical benefits and workflow of simulation software packages (MATLAB/Simulink, PLECS,

PSIM) in drive control design and HIL testing.

10/10