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Electrical Drives
Drives are systems employed for motion control
Drives that employ electric motors as prime movers are known as Electrical Drives
Electrical Drives
Power In
Power out
Power loss
Mainly in valve
motor
pump
Power In
Power out
Power In
Power out
Power loss
Mainly in valve
Power loss
motor
pump
Power In
Power out
Power In
Power out
Power loss
Mainly in valve
Power loss
Non-linear control Real-time control DSP application PFC Speed sensorless Power electronic converters
Inter-disciplinary
Several research area Expanding
Components in electric drives e.g. Single drive - sensorless vector control from Hitachi
Components in electric drives Motors DC motors - permanent magnet wound field AC motors induction, synchronous (IPMSM, SMPSM), brushless DC Applications, cost, environment
Power sources DC batteries, fuel cell, photovoltaic - unregulated AC Single- three- phase utility, wind generator - unregulated Power processor To provide a regulated power supply Combination of power electronic converters More efficient Flexible Compact AC-DC DC-DC DC-AC AC-AC
Control unit Complexity depends on performance requirement analog- noisy, inflexible, ideally has infinite bandwidth. digital immune to noise, configurable, bandwidth is smaller than the analog controllers DSP/microprocessor flexible, lower bandwidth - DSPs perform faster operation than microprocessors (multiplication in single cycle), can perform complex estimations
DC motors: Regular maintenance, heavy, expensive, speed limit Easy control, decouple control of torque and flux
AC motors: Less maintenance, light, less expensive, high speed Coupling between torque and flux variable spatial angle between rotor and stator flux
Overview of AC and DC drives Before semiconductor devices were introduced (<1950) AC motors for fixed speed applications DC motors for variable speed applications After semiconductor devices were introduced (1950s) Variable frequency sources available AC motors in variable speed applications Coupling between flux and torque control Application limited to medium performance applications fans, blowers, compressors scalar control High performance applications dominated by DC motors tractions, elevators, servos, etc
Fm
M Ff
Fm Ff
dM v dt
dv d2 x Fm Ff M M 2 Ma dt dt
First order differential equation for speed Second order differential equation for displacement
Elementary principles of mechanics Tl Te , m J With constant J, Rotational motion - Normally is the case for electrical drives
Te Tl
dJm dt
dm d 2 Te Tl J J 2 dt dt
First order differential equation for angular frequency (or velocity) Second order differential equation for angle (or position)
Te Tl J
dm dt
dm dt
dm dt
The larger the net torque, the faster the acceleration is.
200
speed (rad/s)
0.2
0.21
0.22
0.23
0.24
0.25
torque (Nm)
15 10 5 0 0.19
0.2
0.21
0.22
0.23
0.24
0.25
Fe Fl M
dv dt d dt
Te = r(Fe),
Tl = r(Fl),
v =r
Te Tl r 2M
TORQUE
By using power electronic converters, the motor characteristic can be change at will
T~ C T~
Exist in all motor-load drive system simultaneously In most cases, only one or two are dominating Exists when there is motion
TORQUE
T~ 2
Gravitational torque
Vehicle drive
Te TORQUE TL gM
FL
TL = rFL = r g M sin
Speed
Torque
Gravitational torque
Thermal considerations Unavoidable power losses causes temperature increase Insulation used in the windings are classified based on the temperature it can withstand. Motors must be operated within the allowable maximum temperature
Sources of power losses (hence temperature increase): - Conductor heat losses (i2R) - Core losses hysteresis and eddy current - Friction losses bearings, brush windage
2
T -ve -ve Pm +ve
1
T
4-quadrant operation
Te
Te
Direction of positive (forward) speed is arbitrary chosen Direction of positive torque will produce positive (forward) speed
T
Te m
Te
Steady-state stability