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INTRODUCTION
Motion control is required in large number of industrial and domestic applications. Ex: Robot, fans, washing m/c, mills etc. Drives systems employed for motion control are called as drives. Motion Control Prime Movers. Diesel or petrol engines, gas or steam turbines, steam engines, hydraulic motors and electric motors . Also for supplying mechanical energy for motion control.
Motion Control
Prime Movers
Electric Electric Drives Drives employing Electric Drives Motors has Prime Movers Electric Motor as Prime Movers.
ELECTRIC DRIVES
An electric drive is defined as a machine equipment designed to convert electrical energy into mechanical energy and provide electrical control of this process. (Or) An electric drive can be defined as an electromechanical device for converting electrical energy into mechanical energy to impart motion to different machines and mechanisms for various kinds of process control.
In the past, induction and synchronous machines were used for constant speed applications this was mainly because of the unavailability of variable frequency supply.
Electric drives is multi-disciplinary field. Various research areas can be sub-divided from electric drives as shown in Figure 3.
The voltage and current applied to the motor can be changed at will by employing power electronic converters.
AC motor is no longer limited to application where only AC source is available, however, it can also be used when the power source available is DC or vice versa
Power Source
Motor
Load
Control
Control Unit
Feedback
AC Source
Single or three phase utility Wind generator.
Converters are used to convert and possibly regulate (i.e. using closed-loop control) the available sources to suit the load i.e. motors.
These converters are efficient because the switches operate in either cut-off or saturation modes.
Nature of this torque depends upon particular application. It may be constant and independent of speed.
It may be some function of speed, it may be time invariant or time variant, its nature may also change with the loads mode of operation.
In order to start the drive the motor should at least exceed stiction.
If there is a torsional elasticity in shaft coupling the load to the motor, an additional component of load torque known as coupling torque will be present.
For reversible drive + direction of the speed can be assumed arbitrarily either clockwise or anticlockwise.
The motor torque is +, if it produce increase in speed in the + sense (acceleration). But the load torque is assigned the + sign when it is directed against the motor torque.
-The motor torque is considered - if it produces deceleration.
Note: Motor can provide motoring and braking operations for both forward and reverse directions.
Plot of speed torque characteristics of the load/motor for all four quadrant of operation is known as quadrant diagram.
m Te
Te
Direction of positive (forward) speed is arbitrary chosen Direction of positive torque will produce positive (forward) speed
T
Te
m
Te
This torque is the difference of torques due to loaded hoist and counter weight.
The load torque in quadrants II and III is the speed torque characteristics for an empty hoist. This torque is the difference of torques due to counter weight and the empty hoist. Its sigh is negative because the counter weight is always higher than that of an empty cage.
This motion will be obtained if the motor products positive torque in CCW direction equal to the magnitude of load torque.
Since developed power is positive, this is forward motoring operation.
In order to limit the cage within a safe value, motor must produce a positive torque must have opposite polarity with respect to rotation and acts as a brake. The motor torque sign is positive, but as both power and speed are negative, drive is operating in reverse braking operation.
TL Te , m J
Tl = Instantaneous value of load torque, referred to the motor shaft N-m Load torque includes friction and windage torque of motor. Motor-load system shown in figure can be described by the following fundamental torque equation.
Equation (1) is applicable to variable inertia drives such as mine winders, reel drives, Industrial robots.
Equation (2) shows that torque developed by motor is counter balanced by load torque Tl and a dynamic torque.
Torque component is called dynamic torque because it is present only during the transient operations. Note: Energy associated with dynamic torque form of kinetic energy given by
is stored in the
1. Parts may have different speeds and types of motions like rotational and translational.
This section provides equivalent moment of inertia and torque components of motor load system, all referred to motor-shaft.
Motor Te
Load 1, TL0
n J1 Load 2, TL1
m1
J0
n1
Power at the loads and motor must be same. If transmission efficiency of the gears be 1 Then, --------------------------------------(4)
If there are m other loads with moment of inertia J1, J2..Jm and gear teeth ratios of a1, a2, .am then,
If m loads with torques Tl1, Tl2..Tlm are coupled through gears with teeth ratios a1, a2, .am and transmission efficiencies 1, 2,m in addition to one directly coupled, then
J0
Mass M1 force F1
v1
Mass, Velocity and Force of the load coupled through a gear be M1 (Kg), V1 (m/sec),F1 (N). If the losses in transmission is neglected, then kinetic energy due to equivalent inertia must be the same as kinetic energy of various moving parts.
Divide by
in equation (1)
Power at the loads and motor must be same. If transmission efficiency of the gears be 1
If there are m other loads with translational motion with velocities V1,V2..Vm and masses M1, M2, .Mm respectively, then
If m loads with torques Tl1, Tl2..Tlm are coupled through gears with teeth ratios a1, a2, .am and transmission efficiencies 1, 2,m in addition to one directly coupled, then
1.Changes from the state of equilibrium takes place slowly therefore the effect of inertia of the rotating masses is insignificant 2.Sudden and fast changes from the equilibrium state, as a result of which the effect of both inertia and inductance can not be neglected.
system is said to be stable - sometimes after the appearance of disturbance it attains a new equilibrium condition.
The
system is said to be unstable - comes to rest or continuous increase in speed following disturbance i.e sysem is unable to take up a new equilibrium position
Now consider equilibrium point B which is obtained when the same motor drives another load as shown in the figure. A decrease in speed causes the load torque to become greater than the motor torque, electric drive decelerates and operating point moves away from point B. Similarly when working at point B and increase in speed will make motor torque greater than the load torque, which will move the operating point away from point B
From the above discussions: A machine is stable if its load speed torque curve are such that for
the stable system the exponent must be negative, so speed increment will disappear with time. The exponent will always be negative if,