Introduction to

Electrical Drive Systems

Department of Electrical Engineering

Indus Institute of Technology & Engineering
 Presentation Outline

• Introduction

• Block diagram

• Types of drives

• Different mechanical loads

 Introduction

Drive

Speed Regulator Rotating Machine

Actual Block Diagram
Types of Drives
Speed Feedback
AC-DC

DC - controls DC Motor speed & DC

torque with a controlled bridge Drive
rectifier Speed Feedback
AC-DC-AC

AC - controls AC Motor speed & AC

Drive
torque by converting AC to DC,
then back to AC AC-DC-AC
Position Feedback

Servo
SERVO - controls speed, torque, Drive
and motion or position of a
brushless servomotor
 Types of industrial loads (Loads with
different speed torque characteristics)
• Constant torque type load
• Torque proportional to speed (Generator
Type load)
• Torque proportional to square of the speed
(Fan type load)
• Torque inversely proportional to speed
(Constant power type load)
 Constant load torque
• Most of the working machines that have mechanical
nature of work like shaping, cutting, grinding or shearing,
require constant torque irrespective of speed.
Similarly cranes during hoisting and conveyors handling
constant weight of material per unit time also exhibit this
type of characteristics., paper mill drive -coulomb friction
 Torque Proportional to speed
• Separately excited dc generators connected to a
constant resistance load, eddy current brakes
have speed torque characteristics given by
T=kω
Torque proportional to square of
the speed
• Eg Fans, rotary pumps, compressors and
ship propellers, aeroplanes – where
windage dominates
Torque Inversely proportional to
speed (Constant power load)
• Certain types of lathes, boring machines, milling
machines, steel mill coiler and electric traction
load exhibit hyperbolic speed-torque
characteristics
VSI for IM Drive
CSI for IM drive
 Types of load torque

Active load torque:- continues to act in the same direction

irrespective of the direction of the drive.
e.g. gravitational force or deformation in elastic bodies.

• Passive load torque:- the sense of the load torque changes

with the change in the direction of motion of drive.
e. g. torques due to friction,
due to shear and deformation of inelastic bodies
Speed torque Conventions
Speed-Torque Characteristics in 4 quadrant
Actual Case: Hoist Application
Assume,
Speed is positive if the direction of rotation is anticlockwise or
in such a way to cause an ‘upward’ or forward motion of the
drive.

For reversible drive positive direction of the speed can be

assumed arbitrarily either clockwise or anticlockwise.

The motor torque is positive if it produces increase in speed in

the positive sense. The load torque is assigned the positive
sign when it is directed against the motor torque.
 Four Quadrant Operation of hoist

• Weight of Fully loaded cage > Counter weight > Empty cage
Simplified
 Components of load torque
Load Torque

Friction Torque Windage Torque Actual

Load Torque
Stiction, Ts

Viscous friction, Tv

Coulomb friction, Tc
 Components of friction torque

Overall friction torque Individual friction torques

 Steady state stability
• State of Equilibrium when T = Tl

If the drive comes out of the state of equilibrium due to some

disturbance, it comes back to steady state for stable equilibrium
but for unstable equilibrium the speed of the drive increases
uncontrollably or decreases to zero. When the drive coming out
of the state of equilibrium preserves it steady state at different
speed (lying in small range), it is said to be in neutral range.

“capacity of the system which enables it to develop forces of such

a nature as to restore equilibrium after any small departure
therefore”
Understanding steady state
stability
 Steady state stability
Condition for stability,

Tl’ = Stable
Tl’’ = Unstable