Dr. V.

Senthil kumar
Professor
Dept of EEE
CEG AU
Syllabus:
UNIT I - INTRODUCTION
Basic elements of electric drives – classification of
electric drives- different types of mechanical loads–
choice of electric drive – status of AC and DC drives
– Four quadrant operation of drives - control circuit
components: Fuses, Switches, Circuit Breakers,
Contactors - Relay – Control transformers.
UNIT II - SPEED CONTROL OF DC MACHINES

Thyristor based bridge rectifier circuits – chopper

circuits - DC shunt motors and series motor: typical
and modified speed torque characteristics - Ward
Leonard method – applications of modified
characteristics - solid state DC drives – electrical
braking.
UNIT III - SPEED CONTROL OF AC MACHINES

Induction motor – speed torque characteristics –

pole changing, stator frequency variation – stator
voltage variations - slip-ring induction motor: rotor
resistance variation, slip power recovery scheme –
basic inverter circuits - variable voltage frequency
control - constant torque and constant power mode
of operation.
UNIT IV - MOTOR STARTERS AND
CONTROLLERS

DC motor starters using voltage sensing relays,

current sensing relays and time delay relays – wound
rotor induction motor starters – starters using
frequency sensing relays - DOL – starter
UNIT V - HEATING AND POWER RATING OF
DRIVE MOTORS

Load diagram, over load capacity, insulating

materials, heating and cooling of motors, service
condition of electric drive – classes of duty –
industrial application of DC and AC drives in
mining.
TEXT BOOKS:
1. S. K. Pillai, ‘A first Course on Electrical Drives’, New Age
International Publishers, New Delhi, Second Edition,
Reprint, 2004
2. Vedam Subramanian, ‘Electric Drives: Concepts and
Applications’ Tata McGraw Hil, New Delhi, Second
Edition, Reprint, 2017.
3. Gopal K. Dubey. ’Fundamentals of Electrical Drives’ Alpha
Science International Ltd., Second Edition, 2010.
REFERENCES:
1. S. K Bhattacharya, Brinjinder Singh ‘Control of Electrical
Machines’ New Age International Publishers, Reprint, 2018.
2. John Bird ‘Electrical Circuit theory and technology’
Elsevier, Fifth Edition, 2014.
3. R. Krishnan, Electric Motor & Drives: Modeling, Analysis and
Control, Prentice hall of India, 2015.
 UNIT I - INTRODUCTION
Electric Drives
Fundamentals of electric derives:
A well developed machine, meant for mechanical
process consists of the following three significant parts:
• Prime – mover
• Energy transmitting device or transmission system
• Working machine.
The prime – mover and transmission system together
is called as drive.
 Based on the type of the prime – mover used, the
derives are classified as,
(i) Hand power drive – by manual movement
(ii) Horse-powered drive – using animals
(iii) Mechanical drive – wind mills, water wheels, water
turbines, steam engines, Internal Combustion
engines etc.
(iv) Electric drive – by electric motors
Hand power drive
Horse-powered drive
Mechanical drive
Electric drive
 An electric drive is defined as a form of machine
equipment designed to convert electrical energy to
mechanical energy and provide electrical control of
this process.

Block diagram of an Electric Drive

An electric drive has the following parts:
1. Load
2. Motor
3. Power modulator
4. Control unit
5. Source
Load: comprises a machinery to accomplish a given task
(eg. Pumps, fans, machine tools, washing machines,
drills, trains etc.)
Motor: having speed-torque characteristics and
capabilities to the load requirements is selected.
Power modulator: performs one or more of the
following four functions:
i. It modulates flow of power from the source to the
motor in such a way that motor is imparted speed-
torque characteristics required by the load
ii. It restricts source and motor currents within
permissible value, during transient operations (e.g.
Starting, braking and speed reversals)
iii. It converts electrical energy of source in the form
suitable to motor.
iv. It selects the mode of operation of the motor, i.e.,
motoring or breaking.
 ADVANTAGES OF ELECTRICAL DRIVES
 Clear for of energy – no fumes, smoke, dust, etc.
 No need for storing/transporting fuel.
 More economical.
 Compact – occupies less space in the machine.
 Easy starting and stopping arrangement.
 Simple methods for speed control, reversing and
electrical braking.
 Remote controlled operation – drive can be controlled
from far off places, operator need not be near the
machine.
 Require less/negligible maintenance.
 More reliable.
 High efficiency
 Electric drives have long life
 TYPES OF MOTORS USED FOR
ELECTRICAL DRIVES
 DC shunt, series and compound motor.
 Three-phase induction motor.
 Compensated induction motor.
 Schrage motor.
 Stator-fed commutator motor.
 Three-phase series motor.
 Synchronous and synchronous induction motor.
 Single-phase series motor
 Repulsion motor.
 Single-phase induction motor.
 TYPES OF DRIVES
 Group drive
 Individual drive
 Multi motor drive

GROUP DRIVE
In this type of drive system one electrical motor is used
to provide mechanical energy for more number of
machines. The electrical energy may be transmitted by
a common shaft, belt, pulley arrangement etc. Flour
mills, cement industry, steel rolling mills, paper mills
etc.,
Multi motor drive
 Cement Industry

steel rolling mills Cement

Paper industry
mills
 Advantages of group drive:
 Cost of one motor given kW is less than the cost of
many motors of the same aggregate kW
 All the machines installed in the same place may not
be working at the same time. Therefore drive motor
capacity may be less than the sum of kW demanded by
all the machines
 Group drive provides higher load capacity. A 100%
overload on individual machine would mean only 10-
25% overload on the main drive.
 Disadvantages of group drive:
 Any fault on the main drive motor causes all machines
to become idle
 Machines have to be installed to suit the layout of the
line shafting and belt arrangements. Therefore
flexibility is lost
 Individual machine speed control is very cumbersome.
Only by means of mechanical arrangements
employing stepped pulleys, belts, etc.,
 Group drive does not have neat appearance and is less
safe due to employment of line shafting, belts, etc.,
 Individual Drive
As the name indicates, when single electric motor is
used to drive one individual machine, it is called
individual drive.
 This method of drive has more flexibility of layout,
ease of speed control, neat arrangements, cleanliness
and safe working conditions.
 Due to these advantages, most of the modern
machines make use of only individual drives. Example
drilling machines, electrical hand tools, metal working
machine tools etc.,
 Multi motor Drive
 This type of drive system employs two or more
electrical motors each which serves to operate one of
many working mechanisms in the same machine.
 Example are CNC (computer numerical controlled)
machines, paper mills, rolling mills, etc.,
 In travelling cranes, three motors are used; one for
hoisting, another for long travel motion and third for
cross travel motion.
FACTORS INFLUENCING THE CHOICE OF
ELECTRICAL DRIVES
Electric motors are essentially reliable machines,
calling for little maintenance provided suitable choice is
made. We must take following considerations before
final selection of the motor is made.
 Nature of electric supply: whether AC or DC or
rectified AC supply is to be utilized for motor.
 Nature of the drive: whether motor is to drive
individual machines or a group of machines.
 Nature of load: whether the load requires light or
heavy starting torque, whether load torque increases
with speed or remains constant, whether load has
heavy inertia which may require long starting time.
 Electrical characteristics of motor:
Starting characteristics
Running characteristics
Speed control
Braking characteristics
 Size and rating of motors:
Whether motor is to run continuously, intermittently
or on a variable load cycle.
 Whether over load capacity and pull out torque (Once
a machine has reached rated operating point, this is
the maximum torque that can be applied without
stalling the machine) are sufficient.
 Mechanical considerations:
Type of enclosures Types of bearings
Transmission of drives Noise level
 Cost:
Capital cost
Running cost
TYPES OF BEARINGS
 Ball
Bearings

Roller
Bearings

Pedestal Bearings
TYPE OF ENCLOSURES
 The ODP (Open Drip Proof) is one of the most
common types of enclosures
The enclosure is open and vented at the
back end of the motor and allows air to
circulate in and around the motor
windings carrying off heat. The ODP
motor is design to prevent liquid from
entering the motor at a 15 degree angle
based off of the vertical alignment. ODP
motors are normally utilized at water
treatment facilities or aquaculture
facilities where they will not be exposed to
corrosive conditions such as HVAC
(Heating, ventilation and Air
Conditioning) systems.
 TEFC (Totally Enclosed Fan Cooled) describes a totally
enclosed motor housing
It has an external fan located at the back of the
motor and during operation it directs air
forward across the motor housing. The motor
housing will have a ribbed structure that are a
type of heat sink to help dissipate the
heat. TEFC motors are the most common type
of motor in municipal water and Industrial
water treatment and all Degasification and
Decarbonation treatment systems are equipped
with TEFC motors. In addition all Odor
Control Scrubbers are equipped with TEFC
motors to avoid corrosive gases entering the
motor and damaging the windings.
 TENV (Totally Enclosed Non Ventilated) is a type
of motor that is also enclosed with no opening but has
no external fan or ribs on the motor enclosure housing.

These motors are not normally

utilized in Industrial Water
applications, odor control, or
decarbonation, due to the need for
continuous duty and the ability to
dissipate heat. It is used in
applications where it already gets
plenty of air, such as in the
plenum of an AC/Heating system
 The next motor enclosure type is a TEAO (Totally Enclosed Air
Over) motor that is considered to be dust tight
They are selected for blower duty
services where shaft mounted fans
are required or even belt driven
fans. The motor must be mounted
in a position that the blower or fan
that it is driving provides the
required air across the motor to cool
the windings. These types of
motors are normally found in HVAC
systems or in door blower clean air
applications.
 A TEWD (Totally Enclosed Wash Down)
Is a motor that is enclosed and is specially
designed to withstand high pressure from wash
down applications or increased high humidity,
or other types of wet environmental
applications. The TEWD motor can be found in
extreme wet environments and chemical
exposure environments. It is not designed for
hazardous locations and has no rating for
hazardous exposure. The type of motor can be
utilized in CATION, ANION, Degasification,
Decarbonation, and Odor Control/ Air
Emission type systems. It is also suitable for
Reverse Osmosis and Aquaculture of
Pisciculture processes because of its ability to
withstand harsh, wet, humid and corrosive
exposure.
The EXPL (Explosion Proof Totally Enclosed)
Is a motor that is totally enclosed and is
engineered and built to withstand an
explosion of a specified gas or vapor inside
of the motor casing. The types of motors
are typically design and selected for very
specific hazardous applications where the
surrounding atmospheres contain gases
known to be combustible. It is very
common to see EXPL type motors in
industrial water treatment system on
Decarbonation, Degasification, and Odor
Control applications and all types or
pumping systems.
 HAZ (Hazardous Location) motor enclosure
It is classified by the type of environment
present and the specific chemical or
material that is creating the hazardous
condition and the any possible exposure
to the environment including the
maximum safe temperature level for the
specific substance or chemical. Again
these types of motor enclosure are
commonly seen on applications in
industrial and municipal water treatment
for Filtration, Decarbonation,
Degasification, Aeration, and Odor
Control. Likewise a HAZ motor enclosure
can be utilized at Aquaculture and
Pisciculture applications based upon the
corrosive nature of the water.
Submersible Pump Features:
1. Power supply cable: Flow direct hold popular cable
sizes in stock.
2. Non-return valve: Spring loaded or gravity, non-
clogging and canting. Short closing time avoids water
hammer.
3. Threaded Stud connections: Rapid and low cost
dismantling with stainless steel studded connections.
4. Bearing: water resistant bearings. High resistance
against sand and vibration.
5. Impellers: Wear resistant impellers of high quality
bronze or stainless steel. Exact pump duties can be achieved
through hydraulic modifications.
6. Stationary and rotating wear rings: Wear resistant,
replaceable stationary and rotating rings.
7. Pump Casing: Materials available for all applications.
8. Engineered coupling: Simple connection
between pump and motor.
9. Mechanical shaft seal and double lip seal
system: highly wear resistant seal for a long life
and integrity.
10. Pump and motor shaft: High grade stainless
steel of robust construction.
11. Bearing sleeve: Double bearing sleeve made
of synthetic carbon with spiral groove for cooling
and lubrication of the motor.
12. Motor cooling: Motor sized for pump max
power. Option of temperature control in the motor
by internal cooling circuit.
13. Motor shroud: stainless steel.
14. Counter axial thrust bearing: Resists axial
up-thrust.
 STATUS OF AC AND DC DRIVES
 Earlier induction and synchronous motor drives were
employed for fixed speed applications, DC motors
dominated the variable speed applications.
 In late sixties, with the help of thyristors variable
speed induction motor drives were developed, which
were efficient and could match the performance of
DC drives.
 Because of the advantages of squirrel-cage induction
motors over DC motors, it was predicted that
induction motor drives will replace DC drives in
variable speed applications.
 Although squirrel-cage induction motor was cheaper
than DC motor, the converter and control circuit of an
IM drive was very expensive compared to those for a
DC drive. Therefore, total cost of a IM drive was
significantly higher that that of a DC drive.
 Developments in linear and digital IC’s and VLSI’s
were helpful in improving the performance and
reliability of AC drives. But then these developments
also led to similar improvements in DC drives.
The following factors have resulted into reduction in
cost, simple controllers and improvement in
performance and reliability of AC drives:
 Improvement in thyristor capabilities, availability of
power transistors in early seventies and that of GTO’s
and IGBT’s in late seventies and late eighties
respectively.
 Reduction in cost of thyristors, power transistors and
GTO’s
 Development of VLSI’s and microprocessors
 Improvement in control techniques of converters.
 Induction motor drives find applications in low and
high power applications and synchronous motor drives
are employed in high power drives (MW) and medium
power drives.
 The permanent magnet synchronous motor and
brushless DC motor is being considered for replacing
DC servo motor for fractional HP ratings.
 TYPES OF LOAD TORQUES
Loads can be of two types – those which provide
active torques and those which provide passive torque.

Active torques:
These are due to either gravitational force or
deformation in elastic body.
The active torques due to gravitational pull are
obtained in case of hoists, lifts or elevators and railway
locomotives operating on gradients.
 Active torques are also developed during compression
or release of springs.
 Since the functioning of hoisting mechanisms
operation of locomotives on gradients and compression
or release of springs are all associated with a change in
potential energy of the drive, active torques are also
closely connected to the potential energy.
 When a load is moved upwards or a spring is
compressed, the stored potential energy increases and
the active torque developed opposes the action that
takes place i.e., the torque is directed against the upward
movement or compression.
 On the other hand, when a load is brought
downwards or a spring is released the stored potential
energy decreases and torque associated with it aids the
action.
 It can be seen that the active torques continue to act
in the same direction even after the direction of the drive
has been reversed.
Passive Torques:
 Passive torques are those due to friction or due to
shear and deformation in inelastic bodies (lathes, fans,
pumps etc.)
 They always oppose motion, retarding the rotation of
the driven machine, with change in direction of motion,
the sense of torque also changes.
 For example, when a weight is being lifted up, the
friction torque adds the useful torque, but when lowered
down it subtracts form the latter.
Nature of Mechanical Load:

A. Variati0n with speed – depending upon the speed,

load torques cab be classified as :
i. Constant load torque
ii. Load torque ∝ speed
iii. Load torque ∝ speed2
vi. Load torque ∝ (1/speed)
i. Constant load torque: it is independent of the speed
and occurs in case of cranes, hoist etc.
ii. Load torque ∝ speed: The torque increases linearly
with speed and occurs in case of fluid friction where
lubricant is used
iii. Load torque ∝ speed2: The torque increases as a
square of speed and occurs in case of air and fluid
friction such as in fans, water wheels etc.
vi. Load torque ∝ (1/speed): The torque varies inversely
as the speed and occurs where deformation of material
takes place eg. grinding, metal drawing etc.
CRANES

Metal drawing
Grinding

HOIST
B. Variation with time – load torques, depending
upon time can be classified as:

1. Continuous and constant load: Centrifugal pumps

or fans operating for a long time under the same
conditions; paper-making machines etc.
2. Continuous and variable load: Metal cutting
lathes, hoisting winches, conveyors, etc.
3. Pulsating loads: Reciprocating pumps and
compressors, frame saws, textile looms and generally
all machines having crank shaft.
PAPER MAKING MACHINE
METAL CUTTING LATHES
CONVEYORS
RECIPROCATING
PUMPS

FRAME SAWS
4. Impact loads: Regular and repetitive load peaks or
pulses which occur in rolling mills, presses, shearing
machines, forging hammers etc. Drives for such
machines are characterized by flywheels.
5. Short time intermittent loads: Almost all forms of
cranes and hoisting mechanisms, excavators, roll
trains, etc
6. Short time loads: Motor-generator sets for
charging batteries, servo-motors used for remote
control of clamping rods of drilling machines.
 EXCAVATORS

FORGING
HAMMER

MOTOR-
GENERATOR
MANUAL SET
HYDRAULIC
PRESS
 Mechanical shearing machines

Manual shearing
machines Mild steel hot rolling mills

Hydraulic
presses
Flywheel

A flywheel is essentially a mechanical battery

consisting of a mass rotating around an axis. It
stores energy in the form of kinetic energy and
works by accelerating a rotor to very high Energy
speeds and maintaining the energy in the transfer
system as rotational energy apparatus Friction
-Flywheel motor (Toy
cars)

Flywheel inertia car

 FOUR QUADRANT OPERATION OF DRIVES
 The motor driving the load may operate in different
regimes – as motors, as a generator and as a brake.
 In many applications the motor may be required to
run in both directions.
 In sketching the speed torque characteristics of either
the load or motor it is preferable to use all four
quadrants of the speed-torque plane for plotting.
When drawn the diagram is referred as quadrantal
diagram.
 The speed is assumed to have a positive sign, if the
direction of rotation is anticlockwise.
 The motor torque is said to be positive if it produces an
increase in speed in the positive sense.
 The load torque is assigned a positive sign when it is
directed against the motor torque.
 Figure shows the four quadrant operation of a motor
driving a hoist consisting of a cage with or without
load, a rope wound onto a drum to hoist the cage and a
balance weight of magnitude greater than that of the
empty cage but less than that of the loaded one.
 The arrows in this figure indicate the actual directions
of motor torque, load torque and motion in the four
quadrants.
 Load torque is assumed to be constant and
independent of speed.
 At low speed hoist, forces due to windage and friction
torques are negligible comparing to gravitational pull
on the cage.
 This torque being an active load torque doesn’t change
its sign even when the direction of rotation of the
driving motor is reversed.
 The load torque line TL in quadrants I and IV
represents speed-torque characteristic for the loaded
hoist.
 This torque is the difference torques due to loaded
hoist and counter weight.
 The load torque line TL 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.

QUADRANT I:
 In the first quadrant the load torque acts in a direction
opposite to that of rotation.
 Hence, to drive the loaded hoist up, the developed
torque in the motor TM must act in the same direction
as the speed of rotation, ie., TM should be of positive
sign.
 Since the speed is also of positive sign being an upward
motion, the power will also have a positive sign, ie., the
drive is said to be motoring.
 Quadrant I is conventionally designated as “forward
motoring quadrant”.

QUADRANT II:
 The hoisting up of the unloaded cage is represented in
the second quadrant.
 Since the counterweight is heavier than the empty
cage, the speed at which the hoist is moved upwards
any reach a dangerously high value.
 In order to avoid this, the motor torque must act
opposite to the direction of rotation, ie., the motor
should switch over to a braking or generator regime.
 Note that TM will have a negative sign and speed still
has a positive sign, giving power a negative sign,
corresponding to the generator or braking operation.
QUADRANT III:
 The third quadrant represents the downward motion
of the empty cage.
 The downward journey of the cage is prevented by the
torque due to the counterweight and friction at the
transmitting parts.
 Therefore, in order to move the cage downwards, the
motor torque must act in the same direction as the
motion of the cage.
 The electrical machine acts as a motor as in the first
quadrant, but in the reverse direction.
 Thus quadrant III becomes “reverse motoring”.
 The motor torque has a negative sign (because it
causes an increase in speed in the negative sense) and
the speed also has negative sign (being a downward
motion). Power, thus, has a positive sign.
QUADRANT IV:
 The downward motion of the loaded cage is shown in
the fourth quadrant.
 The motion can take place under the action of load
itself, without the use of any motor.
 But, the speed of downward motion can be
dangerously high.
 Therefore in this case the electrical machine must act
as a brake limiting the speed of the downward motion
of the hoist.
 The motor torque has a positive sign since it causes a
decrease in speed in the downward motion.
 The speed of course has a negative being a downward
journey.
 The power thus acquires a negative sign,
corresponding to the braking operation of motor.