Chapter 2

Dynamic Behaviour of Electric Drives

Fundamental Torque Equations: A motor usually drives a load through some transmission system. If the
load is directly coupled to motor, the load rotates at the same speed of the motor. If the load is connected
to the motor through some gear mechanism, the load will rotate at a speed other than motor speed.
Sometimes the load may undergo a translational or linear motion. Whatever it may be, it is convenient to
represent the motor load system by an equivalent rotational system as shown in figure.

Equivalent motor – load system

Let J = Polar moment of inertia of motor-load system referred to the motor shaft, kg-m2
Wm = instantaneous angular velocity of the motor shaft, rad/sec
T = Instantaneous value of developed motor torque. N-m
TL = Instantaneous value of load torque (also called as resisting torque), referred to
motor shaft, N-m
Load torque includes friction and windage torque of the motor
The torque equation can be written as

T  TL 
d
Jm   J dm  m dJ
dt dt dt
The moment of inertia may be constant or variable, depending on type of load, the inertia will be variable
incase of mine winders, reel drives, industrial robots, etc..
𝑑𝐽
Considering constant moment of inertia, =0
𝑑𝑡
dm
Then T  TL  J
dt
𝑑𝑊𝑚
The above equation shows the load torque is balanced by load torque TL and a dynamic torque (𝐽 ). It is
𝑑𝑡
clear that the term dynamic torque is present only when speed is changing with respect to time. That
means, dynamic torque exists only when motor is accelerating or decelerating (during transient periods).

The drive accelerates or decelerates depends on sign of the dynamic torque.

If T > TL dynamic torque is positive and the motor drive accelerates

T < TL  dynamic torque is negative and the motor drive decelerates

T = TL  the motor drive is in steady state with constant speed.

In other words it can be stated that if the motor develop a torque which is greater than load torque, the
additional torque is utilized to accelerate the motor. If the motor developing a torque which is less than
load torque, the motor decelerates. If the motor is developing a torque equal to load torque, the motor
drive will operate with constant speed. If the drive requires fast transient response, the drive should
develop large amount of torque when compared to load torque and the drive should have moment of
inertia as minimum as possible.

Referring torque and moment of inertia from one axis to other axis:

An electric drive in industrial applications is required to drive the different loads through different
mechanisms, such as gears, V-belts and crank shafts. Usually the speed of the load will be different when
such mechanisms are used. The load may be either rotational or translational (linear motion). It is
important to find the equivalent moment of inertia and torque from one axis to other axis or referred to
motor shaft.

Loads with rotational motion: let us consider a motor driving two loads, load (1) is directly connected to
the motor and load (2) is connected through gear wheel with teeth ratio n and n1.

Let J  equivalent moment of inertia

Tl  equivalent load torque
Jo  moment of inertia of motor and load (1)
Wm  speed of the motor and the load (1)
Tlo  torque of load (1)
J1  moment of inertia of load (2)
Wm1  speed of load (2)
Tl1  torque of load (2)
𝑊 𝑛
a1  gear tooth ratio, and is given by 𝑎1 = 𝑊𝑚1 = 𝑛
𝑚 1
ƞ1  transmission efficiency of gears

Now, if the transmission losses are neglected, then the total (equivalent) kinetic energy is equal to the
kinetic energy of various parts. In this case equivalent kinetic energy is equal to the kinetic energy of load
(1) and load (2)

1 1 1 2
𝐽𝑊𝑚2 = 𝐽𝑜 𝑊𝑚2 + 𝐽1 𝑊𝑚1
2 2 2
1
Dividing the above equation by 2 𝑊𝑚2

𝐽 = 𝐽𝑜 + 𝑎12 𝐽1 - - - - (1)

Also power output of the motor must be equal to sum of total power taken by the loads, then

𝑇𝑙1 𝑊𝑚1
𝑇𝑙 𝑊𝑚 = 𝑇𝑙𝑜 𝑊𝑚 +
ƞ1
Dividing the above equation with 𝑊𝑚
𝑎1 𝑇𝑙1
𝑇𝑙 = 𝑇𝑙𝑜 + - - - - (2)
ƞ1

the above equations (1) and (2) can be rewritten in more general form when many number fo loads are
connected to the motor drive.

Assume that one load is directly connected to the motor and there are m number of loads with,

moment of inertia J1, J2, ………. Jm

gear ratio a1, a2, ……….am
load torques T1, T2,……….Tm
transmission efficiencies ƞ1, ƞ2, ……… ƞm

then the equivalent moment of inertia and the equivalent toque are given by

𝐽 = 𝐽𝑜 + 𝑎12 𝐽1 + 𝑎22 𝐽2 … … … . +𝑎𝑚

2
𝐽𝑚

𝑎1 𝑇𝑙1 𝑎2 𝑇𝑙2 𝑎𝑚 𝑇𝑙𝑚

𝑇𝑙 = 𝑇𝑙𝑜 + + ………+
ƞ1 ƞ2 ƞm

Loads with translational motion: let us consider a motor driving two loads, load (1) is directly connected to
the motor and load (2) is connected through a transmission system converting rotational motion to linear
motion.

Let J  equivalent moment of inertia

Tl  equivalent load torque
Jo  moment of inertia of motor and load (1)
Wm  speed of the motor and the load (1)
Tlo  torque of load (1)
M1  mass of load (2)
V1  velocity of load (2)
F1  Force with translational motion of load (2)
ƞ1  transmission efficiency

Now, if the transmission losses are neglected, then the total (equivalent) kinetic energy is equal to the
kinetic energy of various parts. In this case equivalent kinetic energy is equal to the kinetic energy of load
(1) and load (2).
 1 1 1
𝐽𝑊𝑚2 = 𝐽𝑜 𝑊𝑚2 + 𝑀1 𝑉12
2 2 2
1
Dividing the above equation with 2 𝑊𝑚2

𝑣1 2
𝐽 = 𝐽𝑜 + 𝑀1 ( )
𝑊𝑚

Also power output of the motor must be equal to sum of total power taken by the loads, then

𝐹1 𝑣1
𝑇𝑙 𝑊𝑚 = 𝑇𝑙𝑜 𝑊𝑚 +
ƞ1

Dividing the above equation by 𝑊𝑚

𝐹1 𝑣1
𝑇𝑙 = 𝑇𝑙𝑜 + ( )
ƞ1 𝑊𝑚

Assume that one load is directly connected to the motor and there are m number of loads with
translational motion with,

Velocities v1, v2,………vm and Masses M1, M2, ………Mm

𝑣1 2 𝑣2 2 𝑣𝑚 2
𝐽 = 𝐽𝑜 + 𝑀1 ( ) + 𝑀2 ( ) + … . . … + 𝑀𝑚 ( )
𝑊𝑚 𝑊𝑚 𝑊𝑚

𝐹1 𝑣1 𝐹2 𝑣2 𝐹𝑚 𝑣𝑚
𝑇𝑙 = 𝑇𝑙𝑜 + ( ) + ( ) + ………+ ( )
ƞ1 𝑊𝑚 ƞ2 𝑊𝑚 ƞm 𝑊𝑚

Introduction to breaking:

The importance of braking system is used to stop the motor or run the mechanical load frequently that is
the importance of braking

Definition of braking system: To stop the motor at desired speed is called as braking system.

Necessity of braking: generally we have mechanic load, generally start the mechanical load through motor
then mechanical load will run. Suppose to stop the mechanical load simply removing the supply to stop the
motor. Our intensity is to stop the mechanical load without removing the supply to stop the mechanical
load.

Classifications of braking: (i) mechanical braking system (ii) electrical braking system

Mechanical Braking system: mechanical braking system is the system which is directly applied to the shaft
of the motor.

Advantages at low speed: at low speed there is no damage of brake.

Ex: Bike travelling with a speed of 20km/h is a small speed at this speed applies mechanical braking, so
there is no damage for mechanical braking system.

Coming to high speed a lot of disadvantages for mechanical braking.

Disadvantages of High speed:

Heat produced (ii) power loss is high (iii) noise is very high (iv) not reliable

To overcome these drawbacks we are choosing electric braking

Electrical braking: It is used in connection with mechanical braking (ie) not using electric braking alone

Types of Electrical braking methods: (i) regenerative braking (ii) dynamic braking (iii) plugging

Regenerative braking: in this braking system motor act as generator. At one condition motor is always
takes the energy from the supply act as motor (normal Eb<V).

In the second condition it will act as regenerative braking operation that means motor act as generator

Regenerative braking is used where, the load on the motor has very high inertia (eg in electric trains) when
Eb>V, obviously Ia will get reversed, hence armature torque is reversed. Thus speed falls. So at this
condition apply mechanical load.

Dynamic Braking: Converting the kinetic energy in to the electrical energy

1st condition: whenever supply is given to the dc motor the current direction always from source to load
side.

2nd condition: next remove the supply the motor will not stop, bz it consists of kinetic energy in the motor.
To stop the motor, simply replace the supply source with dynamic resistance, whenever it is connected to
the dynamic resistance value its kinetic energy will dissipate through resistor value.

Plugging: in plugging method the supply polarity of the motor is changed and allowed to rotate in the
reverse direction by allowing reverse current, once if you remove supply , some duration it will run due to
kinetic energy in that movement, apply the braking system.

Calculation of time and energy loss in transient operations:

Starting, braking, reversing the rotation, speed changing, etc.. are transient operations. Time of transient
operation depend on time constants of the system. In case of electric motors, usually electrical time
constants are very less and transient time will be mainly decided by the mechanical constants of the
motor.

Transient time and energy loss can be calculated using speed – torque and speed - current characteristic.
The torque equation is given by
dm
T  TL  J
dt
In transient operations the speed will change, the time taken for the drive to change speed from Wm1 to
Wm2 can be obtained by using the above equation.

𝐽𝑑𝑊𝑚
𝑑𝑡 =
𝑇(𝑊𝑚 ) − 𝑇𝑙 (𝑊𝑚 )
𝑊𝑚2
𝑑𝑊𝑚
𝑡=𝐽 ∫
𝑇(𝑊𝑚 ) − 𝑇𝑙 (𝑊𝑚 )
𝑊𝑚1
Above equation can be evaluated only if both the torques are expressed in terms of speed and also they
are of integral form. Otherwise the integral is evaluated graphically as shown below.

Lets us assume that T and Tl expressed as a function of speed (Wm). For different speeds, calculate the
𝐽 𝐽
value of 𝑇(𝑊 . Plot the graph between Wm Vs 𝑇(𝑊 . The time of transient operation can be
𝑚 )−𝑇𝑙 (𝑊𝑚 ) 𝑚 )−𝑇𝑙 (𝑊𝑚 )
calculated by calculating the area under curve(shaded area) as shown in figure below. Actually the time
cannot be calculated up to final speed as it results in infinite time( it is like when a stone is thrown into
water, the water circles will be extended up to infinity). So if the final speed is Wme, the transiest time is
calculated up to Wm2

𝑡
Energy dissipated in motor winding during transient operation is give by 𝐸 = ∫0 𝑅𝑖 2 𝑑𝑡

Example problem:

A drive has the following parameters:

J = 10 kg-m2, T = 100 – 0.1N N-m, passive load torque Tl = 0.05N, N-m
Where N is speed in RPM
Initially the drive is operating in steady state. When the motor is reversed, the characteristic changed to
T = - 100 – 0.1N, N-m. Calculate the time of reversal.

Sol:
In steady state, T = Tl  100 – 0.1N=0.05N  N= 666.7 RPM

After reversal, the steady state speed is  - 100 – 0.1N= 0.05N  N=-666.7 RPM

𝐽𝑑𝑊𝑚
From equation 𝑇 = 𝑇𝑙 + ,
𝑑𝑖

𝐽𝑑𝑊𝑚
= −100 − 0.1𝑁 − 0.05𝑁
𝑑𝑡
60𝑊𝑚 𝑑𝑁 30
As 𝑁 = = 𝐽𝜋 (−100 − 0.15𝑁) = −95.49 − 0.143𝑁
2𝜋 𝑑𝑡

𝑁 𝑑𝑁
𝑡 = ∫ 𝑑𝑡 = ∫𝑁 2 −95.49−0.143𝑁
1

Taking N1=666.7 RPM and N2=0.95 X (-666.7)=-633.4 RPM

The above equation cannot be solved as it will result in natural log of negative numbers, which is
mathematically not possible,
The above equation can be modified as
𝑁2
𝑑𝑁
−𝑡 = ∫ 𝑑𝑡 = ∫
𝑁1 95.49 + 0.143𝑁
1
−𝑡 = ln(0.143𝑁 + 95.49|−633.4
6667
0.143
Substituting the upper and lower limits
1
−𝑡 = [ln((0.143 𝑋(−633.4)) + 95.49) − ln((0.143 𝑋666.7) + 95.49)]
0.143
1
−𝑡 = 0.143 [ln(4.9138) -ln (190.8281)]
-t = -25.58
t = 25.58 sec.

1. A drive has following parameters: J = 1 kg-m2, T = 15 – 0.01N, N-m and passive load torque Tl =
0.005N N-m, where N is the speed in RPM.
Initially the drive is operating in steady state. Now it is to be reversed. For this motor characteristic
is altered such that T = -15 – 0.01N N-m. Calculate the reversal time.
(Ans: 25.57 Sec)