1) The fundamental torque equation describes the relationship between the torque developed by the motor (T), the load torque (Tl), and the rate of change of angular velocity (dωm/dt) in electric drive systems.
2) The equation states that the motor torque (T) equals the load torque (Tl) plus the dynamic torque (J * dωm/dt), where J is the total polar moment of inertia of the motor-load system.
3) During acceleration, the motor torque must exceed the load torque by an amount that depends on the rate of change of angular velocity and the system inertia, in order to provide enough torque to both overcome the load and accelerate the system.
1) The fundamental torque equation describes the relationship between the torque developed by the motor (T), the load torque (Tl), and the rate of change of angular velocity (dωm/dt) in electric drive systems.
2) The equation states that the motor torque (T) equals the load torque (Tl) plus the dynamic torque (J * dωm/dt), where J is the total polar moment of inertia of the motor-load system.
3) During acceleration, the motor torque must exceed the load torque by an amount that depends on the rate of change of angular velocity and the system inertia, in order to provide enough torque to both overcome the load and accelerate the system.
1) The fundamental torque equation describes the relationship between the torque developed by the motor (T), the load torque (Tl), and the rate of change of angular velocity (dωm/dt) in electric drive systems.
2) The equation states that the motor torque (T) equals the load torque (Tl) plus the dynamic torque (J * dωm/dt), where J is the total polar moment of inertia of the motor-load system.
3) During acceleration, the motor torque must exceed the load torque by an amount that depends on the rate of change of angular velocity and the system inertia, in order to provide enough torque to both overcome the load and accelerate the system.
1) The fundamental torque equation describes the relationship between the torque developed by the motor (T), the load torque (Tl), and the rate of change of angular velocity (dωm/dt) in electric drive systems.
2) The equation states that the motor torque (T) equals the load torque (Tl) plus the dynamic torque (J * dωm/dt), where J is the total polar moment of inertia of the motor-load system.
3) During acceleration, the motor torque must exceed the load torque by an amount that depends on the rate of change of angular velocity and the system inertia, in order to provide enough torque to both overcome the load and accelerate the system.
Module 1 Dynamics of Motor-Load System, Fundamental Torque Equation FUNDAMENTAL TORQUE EQUATION • A motor drives a load (or a machine) through some transmission system. • The motor always rotates but the load may rotate or may undergo translational motion. • The speed of the load may be different from the speed of the motor. • If the load has many parts-their speeds may be different-some may rotate- some may go through translational motion. • Fig shows the representation of motor-load system by an equivalent rotational system.
2 FUNDAMENTAL TORQUE EQUATION(Contd….) • Let J = polar moment of inertia of motor-load system referred to motor shaft; kg-m2. ωm= instantaneous angular velocity of the motor shaft; rad/sec. T =instantaneous value of developed motor torque; N-m. T𝑙 =instantaneous value of load torque referred to motor shaft; N-m.
• The developed motor torque is considered as an applied torque
• Load torque includes friction & windage torque of the motor. It is also called resisting torque. • The fundamental torque equation is 𝑑 𝑑ωm 𝑑𝐽 𝑇 − 𝑇𝑙 = 𝑑𝑡 𝐽ωm = 𝐽 𝑑𝑡 + ωm 𝑑𝑡 … … … … … … … … … … (1)
3 FUNDAMENTAL TORQUE EQUATION(Contd….)
• Eqn (1) is applicable to variable inertia drives like mine winders, reel drives, industrial robots etc. 𝑑𝐽 • For drives with constant inertia =0 𝑑𝑡 • The eqn (1) becomes 𝑑ωm 𝑇 − 𝑇𝑙 = 𝐽 𝑑𝑡 𝑑ωm 𝑜𝑟 𝑇 = 𝑇𝑙 + 𝐽 ………………………… 2 𝑑𝑡 = load torque + dynamic torque • Torque developed by motor is counterbalanced by load torque & a dynamic torque. 𝑑ω • J m - represents inertia torque-is called dynamic torque- is present only during transient operations, 𝑑𝑡 i.e., when the speed of the drive varies. • During acceleration of the drive, inertia torque is directed against the motion. 4 FUNDAMENTAL TORQUE EQUATION(Contd….) • Inertia torque is the algebraic sum of the motor & load torque both in magnitude and sign. • The sign for 𝑇 & 𝑇𝑙 in equation 2 correspond to motoring operation of the drive and to a passive load torque or to a braking torque caused by active loads. • In general, 𝑑ω𝑚 +𝑇 = +𝑇𝑙 + J 𝑑𝑡 • The signs for 𝑇 & 𝑇𝑙 depend on the quadrant of operation of the driving motor and the nature of the load torque. • The equation of motion helps in determining the variation of torque, current and speed with respect to time, during transient operation of the drive.
5 FUNDAMENTAL TORQUE EQUATION(Contd….) • The drive accelerates or decelerates depending on the whether the developed torque, 𝑇 is > or < load torque, 𝑇𝑙 𝑑ω𝑚 (i) When 𝑇 is >𝑇𝑙 , then > 0 – drive will be accelerating – i.e., the motor picks up speed to reach 𝑑𝑡 rated speed. 𝑑ω (ii) When 𝑇 is <𝑇𝑙 , then 𝑚 < 0 – drive will be decelerating – i.e., the motor comes to rest. 𝑑𝑡 𝑑ω𝑚 (iii) When 𝑇 is = 𝑇𝑙 , then = 0 – the motor will continue to run at the same speed if it were running 𝑑𝑡 and the motor will continue to be at rest if it were not running. Statements (i) & (ii) are valid only when the load torque happens to be a passive load. With active loads, when 𝑇 is >𝑇𝑙 , the drive will be decelerating and when 𝑇 is <𝑇𝑙 , the drive will be accelerating. Eg:- to switch on a motor for hoisting up a winch, while it is coming down on its own weight, deceleration of the drive takes place when 𝑇 is >𝑇𝑙 . When 𝑇 is <𝑇𝑙 and the motor is switched on for moving the winch up, the load will continue to come down and the motor will accelerate instead decelerating.
[ Winch – a lifting device consisting of a rope round a horizontal rotating drum turned by a crank or a motor .] 6 FUNDAMENTAL TORQUE EQUATION(Contd….) • During 𝑑acceleration, ωm motor should supply the load torque and an additional torque J , to overcome the inertia of the drive. 𝑑𝑡 𝑑ωm This is because 𝑇 = 𝑇𝑙 + 𝐽 𝑑𝑡 • For drives with large inertia, the motor torque𝑇must exceed the load torque 𝑇𝑙 by a large amount in order to get adequate acceleration. Eg.:- electric trains. • For drives which require fast transient response, the motor torque should be maintained at highest value and the motor-load system should be designed with lowest possible inertia. 𝑑ωm 1 • Energy associated with dynamic torque(J ) is 𝐽𝜔𝑚2 𝑑𝑡 2 𝑑ωm 𝑑ωm • During deceleration, J has a –ve sign. This is because 𝑇 = 𝑇𝑙 + 𝐽 and 𝑑𝑡 𝑑𝑡 motor torque 𝑇 is <𝑇𝑙 𝑑ωm 1 • Energy associated with dynamic torque(J ) is 𝐽𝜔𝑚2 𝑑𝑡 2 7
