CHAPTER FOUR
Dynamic Behaviour of Electric Drives
4.1 Torques acting in a drive system,
referring torque and moment of inertia from
one axis to other axis
(4.1)
(4.2)
(4.3)
The accelerating torque is
Ti = Fi * r, for r is radius of wheel
Fig 4.1 simple hoist system
The fundamental mechanical relationships
dynamics as well as static conditions
expressed in equation (3.1) can be
considered as
1.Td > Tl , then T i > 0 (accelerating toque)
so that speed increases
2.Td < Tl , then T i < 0 (decelerating toque)
so that speed decreases
3. Td = Tl , then T i = 0 so that drive attains
steady state i.e. runs at constant speed.
The first two cases deal with
transient/dynamic processes (accelerating/
decelerating) therefore called the dynamic
equations of the drive.
(4.4)
Fig. 4.2 inertia
(4.5)
(4.6)
(4.7)
J J J
Fig4.3 . Inertia determination for different bodies
Fig 4.4 Motor and load coupling
system
Fig 4.5 Simple gear
Fig. 2.2
(4.8)
(4.9
)
(4.10)
(4.11)
(4.12)
(4.13)
(4.14)
3.
6
Fig. 4.6
4.2 Transient in Electric Motors: consider
separately exited DC motor
Fig3.7 DC motor equivalent circuit
(this for Radd = 0)
(3.17)
(3.18)
(3.18
)
(3.19)
Substituting eqs. (3.18) and (3.19) in to eq.
(3.17) we have
(3.20)
Example
3.3 Energy losses in
Transient
Consider, for example, a motor with the rotor inertia of JM that
drives a load with the mass moment of inertia of JL through a
transmission with the gear ratio of N. The kinetic energy, EL,
of the load rotating with the angular velocity ωL is
(3.22)
while the kinetic energy, EM, of the rotor whose velocity is ωM is
given by
(3.23)
Thus, the total kinetic energy, ET, of the drive can be expressed
as
(3.24)
where JT denotes the total mass moment of inertia of the system
referred to the motor shaft
The energy loss during the transient of the drive can be classified as
A. During the starting
If the motor start with out load, the friction is neglected
i.e. AL (3.25
for
(3.26)
For motor starts from rest,
It shows that the energy loss in motor during starting is equal to the
stored energy in its rotating parts at steady state speed.
B. If the motor is started with constant load torque , the energy loss
during transient is
(3.27)
(3.28)
The first part of equation (2.28) Represents the energy loss in the
armature circuit due to acceleration whereas the second part
represents the loss in the armature circuit due to load carried by
motor.
ing
mode
(Reverse braking)
mode
Reverse ing
mode (Forward braking) mode
Fig. 3.9b
-P
+
Fig.3.9c The four quadrant operation and variables change in polari
Fig. 3.9d power flow in the four quadrant operation
bellow
Fig. 3.9e four quadrant operation of locomotive
Fig.3.9f
3.5 Starting of electric motors
The starting current of the electric motor, is typically much higher
than the rated current. For example, using the approximate
equivalent circuit Induction motor, the starting current, Is,st, can be
estimated as
Fig 3.10 Approximate per-phase equivalent circuit of the induction
motor
In the example motor, the starting current, at about 250 A/ph, is
6.3 times higher than the rated current. For small motors this is
usually not a serious issue, and they are started by connecting
them directly to the power line.
However, large motors, especially those driving loads with high
inertia or high low-speed torque, require assisted starting. The
following are the most common solutions.
Fig3.11a autotransformer starting Fig. 3.11b impedance starting
Fig 3.11c wye-delta starting Fig3.11d soft-starting
In comparison with the direct online starting, all the preceding
methods of assisted starting result in reduction of the starting
torque. This, with certain loads, can be a serious disadvantage.
