Dynamics of Drives
Part – I : Torque Components
Fundamentals of Torque
Motor drives a load ( Rotational / Translation Movement)
Motor Torque :
where,
Tm – Motor Torque (Nm)
TL – Load Torque (Nm)
J – Moment of Inertia (Kg m2)
ωm – Motor Angular velocity - speed (rad / sec)
• Motor torque and motor speed will be same
direction
• Load Torque opposes Motor Torque ;
• Tm > TL – Acceleration;
• Tm < TL – Deceleration;
• Machine with low Inertia gives faster response
Load Torque Components
Load Torque (TL) consist of
• Useful load Torque (Tl)
• Friction Torque (TF)
• Windage Torque (TW)
Frictional Torque (TF)
– Static Frictional Torque (Ts)
– Viscous Frictional Torque (Tv)
– Coulomb Friction (Tc)
Speed - Frictional Torque Characteristics
Stiction (or) Static Frictional Torque (Ts) ;
Viscous Frictional Torque (Tv); Coulomb Friction (Tc);
• Static Friction (Stiction) exist during standstill
• Viscous Friction Torque TV = Bωm
• Coulomb Friction Torque Tc
• Windage Torque
Therefore.,
Load Torque:
Motor Torque:
• Coupling Torque
• increase in B – reduce oscillation
Torque Components - Overview
• Motor Torque = Load Torque + Dynamic Torque
• Load Torque –
– Useful Torque (Tl)
– Windage Torque
– Viscous Frictional Torque Tv = Bωm
– Coulomb Frictional Torque Tc
Load Torque –
Load Torque may dependant or independent of speed
Useful Torque??
Coupling torque Te =Keθe
Speed – Torque Responses
Speed – Torque characteristics of Hoist(High Speed)
Viscous friction torque + Windage frictional torque in appreciable
magnitude with gravity;
Low speed hoist – coulomb frictional torque dominates
Speed – Torque Responses
➢ Load torque is proportional to square of the Speed
➢ Windage torque dominates – Fan , blowers,
compressors, ...
➢ + Viscous Frictional Torque dominates – Centrifugal
pump, ship propellers...
Speed – Torque Response
Stiction is large in traction loads
Windage and Viscous Friction dominates at steady state
Starting torque must be larger than Full load torque
constant power load – P = wT ; Ex: Coiler drive
Drive Parameters: Load with Rotational Motion
• Moment of Inertia and Torque refer to Motor Shaft :
• Considering loss-less system, let gear tooth ratio to be
• Kinetic energy in shaft = kinetic energy in moving parts
• i.e.,
• Moment of Inertia on motor shaft =
• Similarly for power balance,
• power at the load = motor output power i.e.,
• The total equivalent torque refer to motor shaft will be
.,
• Moment of Inertia for m loads connected to shaft will be
• Motor equivalent torque refer to motor shaft for m load will
be
Load with Translation Motion
• Moment of Inertia and Torque refer to Motor Shaft :
• Neglecting transmission losses and considering n =n1;
• Equivalent Inertia on motor shaft will be.,
• Similarly, power at motor = power at load;
• Therefore, Equivalent load torque on shaft will be,
• In translation motion,
• Equivalent moment of inertia for a system with m loads
• Equivalent load torque for a system with m loads,
Example
• A motor drives 2 load with an inertia of 0.2kgm2 at the
speed of 1420rpm.
• Load 1 with moment of inertia of 10kgm2 and 10 Nm
torque, connected to motor with a gear setup having its
ratio of 0.1 and runs with 90% efficiency;
• Load 2 with translation motion lifts 1000kg weight at an
uniform speed of 1.5m/s. Load 2 efficiency is 85%
• Determine the equivalent moment of inertia and motor
torque developed by motor.
Given Data:
J0 = 0.2kgm2 ; N – 1420rpm
L1 : J1 – 10kgm2 ; T – 10Nm
a1 – 0.1 ; Efficiency – 90%
L2: Mass – 1000kg ; V – 1.5m/s ;
Efficiency – 85%
Solution:
Types of Load w.r.to Time
• Continuous constant Load – pump, fan
• Continuous variable load – metal cutting m/c, conveyors, ..
• Pulsating load – reciprocating pumps
• Impact load – forging hammer
• Short time intermittent load – hoist, cranes..
• Short time load – drilling machine
Drive: Multi Quadrant Operation
Forward Motoring and Reverse Braking
Quadrant I & IV
• Load cage > Count Weight
• Forward Motoring - Quad I:
– Tm = +Ve;
– Pm = +Ve;
– ωm = +Ve;
• Reverse Braking Quad IV:
– Tm = +Ve;
– Pm = -Ve;
– ωm = -Ve;
Reverse Motoring and Forward Braking
Quadrant III & II
• Load cage < Count Weight
• Reverse Motoring - Quad III:
– Tm = -Ve;
– Pm = +Ve;
– ωm = -Ve;
• Forward Braking Quad II:
– Tm = -Ve;
– Pm = -Ve;
– ωm = +Ve;
Drive Transients
• Transient Time and Energy Loss:
• Transient – Starting , Braking , Speed Change,
Speed Reversal ; we know.,
• Load torque – constant / proportional to speed –
Linear and First order differential equation – easy
analysis / prediction
• Non – linear system : Runge Kutta Method ;
• In practical case:
• Transient time:
• Energy Loss in motor during transient:
• In linear system –
• Non linear system – P = T
– Speed vs time;
– Torque vs speed
Retardation Test
• Determine Moment of Inertia (J) :
• In dc motor –
– No load input power (Pin)
– Retardation test
– P = rate of change of kinetic energy;
• Area under the curve (A) = ½ J
• Moment of Inertia
Example
• A drive has the following parameters:
• J = 10kgm2 ; Tm = 100 – 0.1N Nm;
• Passive load torque Tl = 0.05N Nm;
• Determine the steady state speed ?
• When the drive is reversed, the motor
characteristics changes to Tm = -100 – 0.1N Nm.
• Calculate the time of reversal to attain steady
state in reverse direction.
• Solution:
• Steady state speed =
• At steady state : Tm – TL = 0
• Therefore, Speed N = 666.67rpm
• Reverse Speed = - 666.67 rpm
• Time taken for reversal :
• We know N1 = 666.67rpm &
• N2 = 0.95*-666.67 = -633.4rpm
T = 25.58Sec
Steady State Stability
• Motor Drive at Equilibrium(A): Tm = TL
• Small Disturbance:
• Decrease in Speed – Tm increase – Tm>TL – Drive
Accelerates – retains stable operation at A – Stable
System
Unstable Drive Speed – Torque Characteristics :
Disturbance – decrease in speed – TL > Tm – motor
decelerates – out of equilibrium – comes to rest
• Motor drive torque Equation:
• Drive with small disturbance, torque equation will be,
• Considering the change in parameters,
• Considering small change to be a straight line, the
change in torque will be a linear function of speed,
• substituting the above in equation (3),
• Solving equation (4) for change in speed,
• Negative Exponent – Stable system; i.e.,
• slope of the load torque should be greater than slope
of motor torque for stable operation
Speed – Torque Characteristics
Stable system (c) or (d) - ?
Transient Stability – Load Equalization
• Fluctuating loads – Pressing machines, Steel rolling
machine, Electric hammering, Reciprocating
pumps..... – Load Torque Fluctuates
• Load Equalization – flywheel mechanism –
reduction in motor power rating
Drive: Speed – Torque Characteristics
Fig – 2 Fig – 3
Motor Speed – Torque Motor Speed – Torque
Characteristics characteristics for fluctuating loads
Flywheel Moment of Inertia
• Mathematical Approach – Mechanical aspect:
• Assuming motor speed-torque characteristics is linear,
the speed in drooping nature of Fig-2, will be.,
• Differentiating eqn.1, and multiple by J on both sides,
• from the dynamic torque equation is,
• By solving eqn-4,
• Therefore, torque at the end of peak load will be,
• Torque at the end of light load will be,
• From eqn -6, the mechanical time constant will be,
• Substituting eqn-8 in eqn-3, the moment of inertia on
the flywheel will be,
Transient Stability - Concept
• Induction Motor Transient:
– slow response – TL = pull out torque
– Quick response – TL > Pull out torque – due to moment
of inertia (J)
• Transient Stability Concept:
• Load ↑ load torque ↑ speed ↓ - Moment of
inertia aids motor torque – ensure stability
i.e., TL = Tm + Jdω/dt
• Load↓ load torque ↓Speed ↑ - Moment of
inertia opposes motor torque – ensure stability
i.e., TL = Tm - Jdω/dt
Transient Stability in Synchronous Motor
• Speed – torque characteristics
of Synchronous motor with
constant load torque is shown;
• In synchronous machine,
Synchronous Motor – Load Angle
• δ = 90° - motor will out of
synchronism
• At steady state , Pm = PL
• Equation of motion during transient in terms of
power,
Pm = Pdyn. + PL - (1)
• Dynamic power :
• where, Pj = Jω 2/poles = Jω / pole pairs ;
• The components of electromagnetic power Pm :
– Damping power assumed vary linearly with Δδ ;
– Synchronous power which is function of δ ;
Therefore eqn. 1, will be,
• Neglecting damping & assuming cylindrical rotor,
• Where, Pm = V*E/Xs ;
• rearranging equation (4) and multiple by dδ/dt on
both sides,
• Therefore, dδ/dt will be,
• When the machine is stable, dδ/dt = 0 ;
• Therefore, equation (5),
• when Δδ < 90° ., (Area : A1 = A2)
𝜹𝑩 𝜹𝑪
න 𝑷𝑳 − 𝑷𝒎 𝒔𝒊𝒏𝜹 𝒅𝜹 = න 𝑷𝒎 𝒔𝒊𝒏𝜹 − 𝑷𝑳 𝒅𝜹
𝜹𝑨 𝜹𝑩
Transient Stability – Equal Area Criteria
Area A2 > A1 : Motor remains synchronism & more
stable;
Area A2 = A1 : Motor remains synchronism & just stable;
Area A2 < A1 : Motor losses its synchronism
Thank you
