Tutorial II
EEL-643: Hybrid Electric Vehicle
Question 1
(i) Figure 1 shows the speed-torque curves of four motor-load combinations. Comment
on the stability of equilibrium points A, B, C, D, E, F, G, and H.
Figure 1: Speed-torque curves of motor-load combinations
(ii) A motor operating with a suitable control system develops a torque given by the
relation
T = aωm + b (1)
The motor drives a load whose torque is given by the expression
2
TL = cωm +d (2)
where a, b, c, and d are positive real constants.
1
(a) Find the equilibrium speeds in terms of the constants a, b, c, and d. What
relation must exist between the constants for the drive to have two positive
real equilibrium speeds?
(b) Will the drive be stable at the equilibrium points obtained in part (a)?
Question 2
(i) A horizontal conveyor belt moving at a uniform velocity of 1 m/s transports load
at the rate of 50,000 kg/hour. The belt is 180 m long and is driven by a 960 rpm
motor.
(a) Determine the equivalent rotational inertia at the motor shaft.
(b) Calculate the required braking torque at the motor shaft to stop the belt at a
uniform rate in 10 seconds.
(ii) A motor having an inertia of 1.2 kg·m2 and rotating at 960 rpm drives a hoist at 1
m/s. The maximum load on the cable is 2000 kg and there is no counterweight. A
constant braking torque of twice the magnitude of the above maximum load torque
is provided by means of a braking device. The friction torque of the hoist drive is
25% of the load torque.
Calculate the time taken to stop and the number of revolutions made by the motor
before coming to rest when:
(a) the load is moving upwards,
(b) the load is moving downwards.
Question 3
A drive whose overall shape is equivalently (including that of load) modeled as uniform
circular disk with radius of 1m and has a resultant mass (m) as 100 kg. This drive has a
driving torque that can be expressed as TM= 200 - 0.2N N-m. This drive has a passive
load whose characteristics can be expressed as TL= 0.1N N-m, where N is in rpm. This
drive was initially operating at steady state. Now, the speed of this drive has to be
2
reversed and for this, the motor torque is changed to -200 -0.2N N-m. Calculate the time
of reversal for this drive?
Question 4
A motor drives a mechanical load and develops an electromagnetic torque given by
T = aωm + b (3)
where a and b are positive constants.
The load torque consists of viscous friction and gravitational components and is given
by
TL = cωm + d (4)
where c > 0 and d > 0. The combined moment of inertia of the motor and load referred
to the motor shaft is J.
1. Derive the dynamic equation of the drive system and obtain an expression for the
equilibrium speed of the drive.
2. Determine the condition on the constants a and c for the equilibrium point to be
stable. Explain the result physically using the torque–speed characteristics of the
motor and the load.
3. The motor is operating at steady state at the equilibrium speed obtained in part
(a). At time t = 0, a constant braking torque Tb is suddenly applied.
(a) Write the dynamic equation governing the deceleration of the drive.
(b) Obtain an expression for the time taken to stop the drive.
(c) Determine the number of revolutions made by the motor shaft during stopping.
Neglect all losses other than those specified.