Course: Electric Drives

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Course title Electric Drives
Course code MTI/EPS
Organizational form of instruction Lecture + Lesson
Level of course Master
Year of study not specified
Semester Winter
Number of ECTS credits 6
Language of instruction Czech, English
Status of course Compulsory
Form of instruction Face-to-face
Work placements Course does not contain work placement
Recommended optional programme components None
  • Černohorský Josef, doc. Ing. Ph.D.
  • Diblík Martin, Ing. Ph.D.
Course content
Lectures: 1. Electric drive - definition, basic classification, mechanics of drive, load characteristics of working machines, types of motion equations. Mechanical characteristics of electric motors and working machines, operating modes, electromechanical transient process, run-up and follow-down time, working diagrams of kinematics values 2. Sizing of electric drive, load types, methods of equivalent parameters, derating of drive due to working enviroment. 3. DC motor, principle, construction, commutation, armature reaction, motor with separate, serial and parallel excitation, speed control, braking, reversal, mathematical model of DC motor with separate excitation. 4. Control of position, velocity and torque of DC drive, control structures. 5. Induction motor, principle, construction, voltage equations and equvivalent circuit, energy balance and motor torque, operation states, starting, braking, speed control. Math model, frame transformation. 6. Induction motor, frequency speed control, scalar and vector control strategies, direct torque control. Control structures for IM driven servomechanism. 7. Frequency converter - principle, properties, pulse-width modulation. 8. Synchronous motor, principle, construction, synchronous motor with permanent magnets in rotor (PMSM), construction, properties, mathematical model. 9. Control of position, velocity and torque of PMSM drive, control structures. 10. Electronic Commutator Direct Current machine (ECDC), construction, properties. Stepper motors (SM) construction, properties. Reluctance motors (RM) properties, principle of reluctance torque. 11. Technical resources for electric servomechanism realisation (servomotors, converters, sensors, control systems, industrial communication networks) 12. Control methods of electric servodrives (cyclic control, PLCOpen), control system programming according to PLCOpen standards. 13.Position servodrives referencing, electronic coupling of drives (master axis,gear, cam) 14. Safety of mechanical and electrical machines and devices, risk analysis, resources for safety of electric drives. Practice: 1. Safety instructions for work with electric equipment. Switching, safety and control devices in electric drives power circuits. 2. Safety instructions - knowledge test. Control of electric drives by switching elements, design of control circuit. 3. Control of electric drives by switching elements, design of control circuit, PLC system Siemens "LOGO!" programming. First semestral work submission. 4. - 7. Sizing of electric drives according to load specification. Calculation of asynchronous electromotor, frequency converter sizing, sizing of braking resistor and braking unit. Second semestral work submission. 8. - 10. Parameters measurement of DC and AC electric drive. Measurement methods of winding resistance, winding inductance and moment of inertia. Mathematical model deduction of DC electric motor with separated excitation. 10. - 11. Use of DC servodrives by motion controller. 11. - 14. Single axis control task realisation by PLCOpen. 15. - 20. Position servodrive control, configuration, homing, basic motion, electronic coupling. 21. - 22. AC drives with asynchronous electromotor. Introduction of frequency converter (FC) Siemens Sinamics G110, basic wiring of simple FC, programming methods of FC. Programming of Sinamics G110 according to task definition. 23 - 24. Control of frequency controller by industrial communication bus.

Learning activities and teaching methods
Monological explanation (lecture, presentation,briefing), Laboratory work
  • Class attendance - 70 hours per semester
Learning outcomes
Students obtain theoretical and practical knowledges about basic parts of electric drives, their function and arrangement and typical characteristics. Mechanical characteristics of drives and load machines are introduced. Control structures of DC and AC drives are introduced together with other important devices, such as sensors, measurement, protection, switching devices, power semiconductor converters, amplifiers etc. with basic pronciples of electromechanical control circuit analysis and synthesis.
Students learn to design and size each individual part of controlled electric drives and implement them into manufacturing systems. This knowledge can be applied in manufacturing, machine design, science and research and management post too.
Condition of registration: Exam from subject Electrical Circuits, Basics of Control Engineering, Industrial Control and Instrumentation, Simulation of Dynamic Systems, Electrical Power Systems.

Assessment methods and criteria
Combined examination

Activity on the seminars, successful passing of tests and elaboration of semestral works are required for getting credits.
Recommended literature
  • Bulent H. Ertan and col. Modern Electrical Drives. Kluwer Academic Publishers, 2000. ISBN 978-0792363767..
  • Caha, Z., Černý, M. Elektrické pohony. SNTL, Praha, 1990.
  • Dorsey, J. Continuous and discrete control systems. ISBN 0-07-250023-9.
  • Hrabovcová V., et al. Moderné elektrické stroje. Žilina, 2001. ISBN 80-7100-809-5.
  • Javůrek, J. Regulace moderních elektrických pohonů. Grada, Praha, 2003.
  • Krishnan, R. Electric Motor Drives: Modeling, Analysis, and Control. Prentice Hall, 2001. ISBN 978-0130910141.
  • Nasar S.A., Boldea,I. Vector Cotrol of Ac Drives. CRC Press Inc., 1992. ISBN 978-0849344084.
  • Pavelka, J., Čeřovský, Z., Javůrek, J. Elektrické pohony. ČVUT FEL, Praha, 1997.
  • Rydlo, P. Řízení střídavých elektrických pohonů. TUL FM, Liberec, 2007.
  • Souček, P. Servomechanismy ve výrobních strojích. ČVUT, Praha, 2004.
  • Voženílek, P., Novotný V., Mindl P. Elektromechanické měniče. Praha, 2007. ISBN 978-800-1031-377.

Study plans that include the course
Faculty Study plan (Version) Category of Branch/Specialization Recommended year of study Recommended semester
Faculty: Faculty of Mechatronics, Informatics and Interdisciplinary Studies Study plan (Version): Automatic Control and Applied Computer Science (2016) Category: Special and interdisciplinary fields 1 Recommended year of study:1, Recommended semester: Winter
Faculty: Faculty of Mechatronics, Informatics and Interdisciplinary Studies Study plan (Version): Mechatronics (2016) Category: Special and interdisciplinary fields 1 Recommended year of study:1, Recommended semester: Winter