ADVANCED ELECTRICAL DRIVES

UNIT - I

What is an Electric Drive?

An Electric Drive can be defined as, a system which is used to
control the movement of an electrical machine. This drive employs
a prime mover such as a petrol engine, otherwise diesel, steam
turbines otherwise gas, electrical & hydraulic motors like a
main source of energy. These prime movers will supply the
mechanical energy toward the drive for controlling motion
An electric drive can be built with an electric drive motor as well
as a complicated control system to control the motor’s rotation
shaft. At present, the controlling of this can be done simply using
the software. Thus, the controlling turns into more accurate & this
drive concept also offers the ease of utilizing.
Block Diagram of Electric Drive
The block diagram of an electric drive is shown below, and the load
in the diagram signifies different kinds of equipment which can be
built with an electric motor such as washing machine, pumps,
fans, etc. The electric drive can be built with source, power
modulator, motor, load, sensing unit, control unit, an input
command.

Electric Drive Block Diagram

Power Source
The power source in the above block diagram offers the necessary
energy for the system. And both the converter and the motor
interfaces by the power source to provide changeable voltage,
frequency and current to the motor.
Power Modulator
This modulator can be used to control the o/p power of the supply.
The power controlling of the motor can be done in such a way that
the electrical motor sends out the speed-torque feature which is
necessary with the load. During the temporary operations, the
extreme current will be drawn from the power source.
The drawn current from the power source may excess it otherwise
can cause a voltage drop. Therefore the power modulator limits the
motor current as well as the source.
The power modulator can change the energy based on the motor
requirement. For instance, if the basis is direct current & an
induction motor can be used after that power modulator changes
the direct current into alternating current. And it also chooses
the motor’s mode of operation like braking otherwise motoring.
Load
The mechanical load can be decided by the environment of the
industrial process & the power source can be decided by an
available source at the place. However, we can choose the
other electric components namely electric motor, controller, &
converter.
Control Unit
The control unit is mainly used to control the power modulator,
and this modulator can operate at power levels as well as small
voltage. And it also works the power modulator as preferred. This
unit produces the rules for the safety of the motor as well as power
modulator. The i/p control signal regulates the drive’s working
point from i/p toward the control unit.
Sensing Unit
The sensing unit in the block diagram is used to sense the
particular drive factor such as speed, motor current. This unit is
mainly used for the operation of closed loop otherwise protection.
Motor
The electric motor intended for the specific application can be
chosen by believing various features such as price, reaching the
level of power & performance necessary by the load throughout the
stable state as well as active operations.
Classification of Electrical Drives
Usually, these are classified into three types such as group drive,
individual drive, and multi-motor drive. Additionally, these drives
are further categorized based on the different parameters which
are discussed below.
• Electrical Drives are classified into two types based on
supply namely AC drives & DC drives.
• Electrical Drives are classified into two types based on
running speed namely Constant speed drives & changeable
speed drives.
• Electrical Drives are classified into two types based on a
number of motors namely Single motor drives & multi-
motor drives.
• Electrical Drives are classified into two types based on
control parameter namely stable torque drives & stable
power drives.
Advantages of Electrical Drives
The advantages of electrical drives include the following.
• These dries are obtainable with an extensive range of
speed, power & torque.
 • Not like other main movers, the requirement of refuel
otherwise heat up the motor is not necessary.
• They do not contaminate the atmosphere.
• Previously, the motors like synchronous as well as
induction were used within stable speed drives.
Changeable speed drives utilize a dc motor.
• They have flexible manage characteristics due to the
utilization of electric braking.
• At present, the AC motor is used within variable speed
drives because of semiconductor converters development.
Disadvantages of Electrical Drive
The disadvantages of electrical drives include the following.
• This drive cannot be used where the power supply is not
accessible.
• The power breakdown totally stops the entire system.
• The primary price of the system is expensive.
• The dynamic response of this drive is poor.
• The drive output power which is obtained is low.
• By using this drive noise pollution can occur.
Applications of Electrical Drives
The applications of electrical drives include the following.
• The main application of this drive is electric traction which
means transportation of materials from one location to
another location. The different types of electric tractions
mainly include electric trains, buses, trolleys, trams, and
solar-powered vehicles inbuilt with battery.
• Electrical drives are extensively used in the huge number
of domestic as well as industrial applications which
includes motors, transportation systems, factories, textile
mills, pumps, fans, robots, etc.
 • These are used as main movers for petrol or diesel engines,
turbines like gas otherwise steam, motors like hydraulic &
electric.

3 types of loads:

Type 1 – CONSTANT TORQUE LOADS

Constant torque loads require the same amount of torque at low

speeds as at high speeds. Torque remains constant throughout the
speed range, and the horsepower increases and decreases in direct
proportion to the speed. Constant torque loads include most
positive displacement and reciprocating pumps and compressors
as well as traction drives and conveyors. With constant torque
loads, the torque is not a function of speed. As speed is changed,
the load torque will remain fairly constant and the horsepower will
change linearly with the speed.

For example, if the speed increases by 50%, then the power

required to drive the operation will increase 50% while the torque
remains constant.
Type 2 – CONSTANT POWER LOADS

Constant horsepower loads require high torque at low speeds and

low torque at high speeds, which means constant horsepower at
any speed. Constant horsepower loads include grinders, winding
machines and lathes. For constant horsepower loads, the torque
loading is a function of speed up to 100% operating speed. As the
speed of the operation is decreased, the torque increases so that
the horsepower required remains essentially constant.

Type 3 – VARIABLE TORQUE LOADS

Variable torque loads require much lower torque at low speeds

than at high speeds. The torque required varies as the square of
the speed and the horsepower required varies as the cube of the
speed. Variable torque loads include most centrifugal and axial
pumps, fans and blowers and many mixers and agitators.
As the speed is decreased, the torque will decrease by the square
of the speed decrease and the horsepower required decreases by
the cube of the speed decrease.

As an example, when the speed of a variable torque load is reduced

by 50% or one half, the torque required to drive the load is reduced
to one-quarter or 25%. The horsepower is reduced to the speed
cubed, which is 1/8, or 12.5% of that required to drive the load at
full speed.

Speed torque conventions and Multi quadrant operation

➢ For consideration of Multi quadrant operation of drives it is
useful to establish suitable converters about the signs of
torque and speed .
➢ Motor speed is considered the when rotating in the forward
direction in load involving up and down motions the speed of
motor which causes upward motions is consider forward
motion and as the +ve .
➢ For reversing drives forward speed is chosen arbitrarily .
➢ Positive motor torque is defined as the torque which produces
acceleration or the +ve rate of change of speed in forward
direction.
➢ The load torque is possible is opposite in the direction to the
+ve motor torque.
➢ Motor torque is considered -ve if it produces deceleration.
 ➢ A motor operate in two modes motoring and braking.
➢ In motoring mode:-
➢ It converts electrical energy to mechanical energy which
support its motion. In braking it works as a generator
converting mechanical energy to electrical energy and
opposes the motion.
➢ Motor can be providing motoring and braking operating for
both forward and reverse direction.
➢ The torque and speed coordinates for both forward and
reverse motions
➢ Power developed by a motor is given by the product of speed
and torque.
➢ In quadrent 1st developed power is the +ve and called forward
motoring mode.
➢ In quadrant 2nd developed power is -ve hence machine works
under braking opposing the motion and this is knowns
forward braking mode .
➢ Similarly quadrant 3rd known as reverse motoring and
quadrant 4th known as reverse braking.

Classification of Load Torques:

As we know already, the nature of Classification of Load Torques
depends on particular application. A low speed hoist is an example
of a load where the torque is constant and independent of the
speed

At low speeds, windage torque is negligible. Therefore, net torque

is mainly due to gravity which is constant and independent of
speed. There are drives where coulomb friction dominates over
other torque components. Consequently, torque is independent of
speed, e.g. paper mill drive.
 Fans, compressors, aeroplanes, centrifugal pumps, ship-
propellors, coilers, high speed hoists, traction etc. are example of
the case where load torque is a function of speed. In fans,
compressors and aeroplanes, the windage dominates,
consequently, load torque is proportional to speed squared

Classification of Load Torques can be broadly classified into

two categories-

1. Active and
2. Passive.
Load torques which have the potential to drive the motor under
equilibrium condition are called Active Load Torques. Such load
torques usually retain their sign when the direction of the drive
rotation is changed. Torque(s) due to gravitational force, tension,
compression and torsion, undergone by an elastic body, come
under this category.

Load torques which always oppose the motion and change their
sign on the reversal of motion are called Passive Load Torques.
Such torques are due to friction, windage, cutting etc.

Steady State Stability of Electrical Drive

Steady state stability

Equilibrium speed of the motor-load system can be obtained when

motor torque equals the load torque. At this equilibrium speed,
motor will operate in steady-state.
* This concept is readily evaluate the stability of an equilibrium
point from the steady state speed-torque curves of the motor &
load system.

In electrical drives, During transient condition, electrical motor

can be assumed to be in electrical equilibrium implying steady-
state speed-torque curves applicable to the transient state
operations also electrical time const is negligible compare to
mechanical time const.

There are seven possible combination of speed and torque curves

of motor and load :

(a) , (b) and (c) – Stable

(d) , (e) and (f) – Unstable

(g) – Interminate.

* Steady, state stability of equilibrium point ‘A’ termed as stable

state when the operation will be restored it after a small depature
from it due to disturbance in motor or load.
* Due to disturbance, a reduction at Δωm in speed. At new speed,
electrical motor torque > load torque, then motor will accelerate
and operation will be restored to point ‘A’. se in Δwm in speed, load
torque > motor torque, resulting into deceleration and restoration
of operation to a point A. Hence the electric drive is steady state
stable at point ‘A’.

Equilibrium point’B’ is obtained when the same motor drives

another load. A se in speed causes the load torque > motor torque,
electric drive decelerates and operating point moves away from
point ‘B’. Similarly when working at point ‘B’ & se in speed will
make motor torque > load torque, which will move the operating
point away from point B. Thus, point ‘B’ is unstable point of
equilibrium. Secondly stability point C & D.

One-Quadrant Chopper DC Drive

Implement one-quadrant chopper (buck converter topology) DC

drive

Description

The One-Quadrant Chopper DC Drive (DC5) block represents a

one-quadrant, DC-supplied, chopper (or DC-DC PWM converter)
drive for DC motors. This drive features closed-loop speed control
with one-quadrant operation. The speed control loop outputs the
reference armature current of the machine. Using a PI current
controller, the chopper duty cycle corresponding to the
commanded armature current is derived. This duty cycle is then
compared with a sawtooth carrier signal to obtain the required
PWM signals for the chopper.

The main advantage of this drive, compared with other DC drives,

is its implementation simplicity. In addition, due to the use of high
switching frequency DC-DC converters, a lower armature current
ripple (compared with thyristor-based DC drives) is obtained.
However, this drive only operates in one quadrant (forward
motoring), which limits its presence in applications where
two/four operating quadrants are required.

The One-Quadrant Chopper DC Drive block uses these blocks

from the Electric Drives/Fundamental Drive Blocks library:

• Speed Controller (DC)

• Regulation Switch

• Current controller (DC)

• Chopper

The machine is separately excited with a constant DC field voltage

source. There is thus no field voltage control. By default, the field
current is set to its steady-state value when a simulation is started.

The armature voltage is provided by an IGBT buck converter

controlled by two PI regulators. The buck converter is fed by a
constant DC voltage source. Armature current oscillations are
reduced by a smoothing inductance connected in series with the
armature circuit.

The model is discrete. Good simulation results have been obtained

with a 1-µs time step. In order to simulate a digital controller
device, the control system has two different sampling times:

• The speed controller sampling time

• The current controller sampling time

The speed controller sampling time has to be a multiple of the

current sampling time. The latter sampling time has to be a
multiple of the simulation time step.

Parameters
 • General

• DC Machine Tab

• Converter Tab

• Controller Tab

Output bus mode

Select how the output variables are organized. If you

select Multiple output buses (default), the block has three separate
output buses for motor, converter, and controller variables. If you
select Single output bus, all variables output on a single bus.

Model detail level

Select between the detailed and the average-value inverter. Default

is Detailed.

Mechanical input

Select between the load torque, the motor speed and the
mechanical rotational port as mechanical input. Default is Torque
Tm.
Regenerative Braking:

Sometimes the energy of the load may have to be fed to the supply
system. A Chopper in this mode is called regenerative. The chopper
working as a switch is connected across the load, which is
normally a dc machine and the diode is connected in the line.
The dc machine works as a generator during this mode.

As long as the thyristor is ON, the generator and Ld are short

circuited, the current in the load increases and energy is stored in
the inductance. When the chopper is switched off a large voltage
occurs across the load terminals. This voltage is greater than
Vd and the energy stored in the inductance is fed to the supply
system. When the voltage of the load falls to Vd, the diode in the
line blocks the current flow, preventing any short circuit of the
supply when the thyristor is switched on. Thus the complete
energy of the load can be supplied to the source.
Very effective braking of the motor is possible up to extremely small
speeds. Regenerative braking is achieved here by changing the
direction of current flow. A remote control may be arranged by a
suitable logic to switch the normal chopper to a regenerative
chopper and vice versa. A small delay is required, for transition
from one mode to the other.

Classification of choppers

1. Choppers

i) Single quadrant choppers

Type A chopper

Type B chopper

ii) Two quadrant choppers

Type C chopper

Type D chopper

iii) Four quadrant choppers

Type E chopper

The operation of the ideal choppers is confined to certain

quadrants of the output voltage output current characteristics.

This is used as the basis for the classification of choppers in single

quadrant, two quadrant and four quadrant configurations.

Type -C chopper or Two-quadrant type-A Chopper

Type C chopper is obtained by connecting type –A and type –B

choppers in parallel. We will always get a positive output voltage
V0 as the freewheeling diode FD is present across the load. When
the chopper is on the freewheeling diode starts conducting and the
output voltage v0 will be equal to Vs . The direction of the load
current i0 will be reversed. The current i0 will be flowing towards
the source and it will be positive regardless the chopper is on or
the FD conducts. The load current will be negative if the chopper
is or the diode D2 conducts. We can say the chopper and FD
operate together as type-A chopper in first quadrant. In the second
quadrant, the chopper and D2 will operate together as type –B
chopper.

The average voltage will be always positive but the average load
current might be positive or negative. The power flow may be life
the first quadrant operation ie from source to load or from load to
source like the second quadrant operation. The two choppers
should not be turned on simultaneously as the combined action
my cause a short circuit in supply lines. For regenerative braking
and motoring these type of chopper configuration is used.

Type D Chopper or Two-Quadrant Type –B Chopper

The circuit diagram of the type D chopper is shown in the above

figure. When the two choppers are on the output voltage v0 will
be equal to Vs . When v0 = – Vs the two choppers will be off but
both the diodes D1 and D2 will start conducting. V0 the average
output voltage will be positive when the choppers turn-on the time
Ton will be more than the turn off time Toff its shown in the wave
form below. As the diodes and choppers conduct current only in
one direction the direction of load current will be always positive.

Type –E chopper or the Four-Quadrant Chopper

Type E or the fourth quadrant chopper consists of four
semiconductor switches and four diodes arranged in
antiparallel. The 4 choppers are numbered according to which
quadrant they belong. Their operation will be in each quadrant and
the corresponding chopper only be active in its quadrant.

First Quadrant

During the first quadrant operation the chopper CH4 will be on .

Chopper CH3 will be off and CH1 will be operated. AS the CH1
and CH4 is on the load voltage v0 will be equal to the source voltage
Vs and the load current i0 will begin to flow . v0 and i0 will be
positive as the first quadrant operation is taking place. As soon as
the chopper CH1 is turned off, the positive current freewheels
through CH4 and the diode D2 . The type E chopper acts as a
step- down chopper in the first quadrant.

Second Quadrant

In this case the chopper CH2 will be operational and the other
three are kept off. As CH2 is on negative current will starts flowing
through the inductor L . CH2 ,E and D4. Energy is stored in the
inductor L as the chopper CH2 is on. When CH2 is off the current
will be fed back to the source through the diodes D1 and D4. Here
(E+L.di/dt) will be more than the source voltage Vs . In second
quadrant the chopper will act as a step-up chopper as the power
is fed back from load to source
Third Quadrant

In third quadrant operation CH1 will be kept off , CH2 will be on

and CH3 is operated. For this quadrant working the polarity of the
load should be reversed. As the chopper CH3 is on, the load gets
connected to the source Vs and v0 and i0 will be negative and
the third quadrant operation will takes place. This chopper acts as
a step-down chopper

Fourth Quadrant

CH4 will be operated and CH1, CH2 and CH3 will be off. When the
chopper CH4 is turned on positive current starts to flow through
CH4, D2 ,E and the inductor L will store energy. As the CH4 is
turned off the current is feedback to the source through the diodes
D2 and D3 , the operation will be in fourth quadrant as the load
voltage is negative but the load current is positive. The chopper
acts as a step up chopper as the power is fed back from load to
source.