A comparative study of performance of AC and DC electric drive control systems with variable moment of inertia

Bulletin of Electrical Engineering and Informatics
Vol. 10, No. 2, April 2021, pp. 588~597
ISSN: 2302-9285, DOI: 10.11591/eei.v10i2.2768  588
Journal homepage: http://beei.org
A comparative study of performance of AC and DC electric
drive control systems with variable moment of inertia
Addasi E. Said, Abdullah M. Eial Awwad
Department of Electrical Power Engineering and Mechatronics,
Faculty of Engineering, Tafila Technical University, Jordan
Article Info ABSTRACT
Article history:
Received Oct 28, 2020
Revised Dec 20, 2020
Accepted Jan 25, 2021
In electric drive control systems, the main goal is to maintain the driving
motor speed to meet the mechanism’s requirements. In some practical
industrial applications the mechanically-coupled load to the motor shaft has a
varying mass during the system operation. Therefore, the change of mass
changes the value of the moment of inertia of the system. The moment of
inertia impacts the system operation, particularly the transient performance.
Therefore, the variation of moment of inertia on the motor shaft during its
operation creates additional challenges to accomplish a high-quality speed
control. The main purpose of the current work is to study the impact of the
variation of moment of inertia on the performance of both AC and DC
electric drive control systems and to make a comparison between them. A
mathematical analysis and simulations of the control system models had been
presented; one time with three-phase induction motor and another time with
DC motor, both with variable moment of inertia. A simulation of both
systems had been accomplished using the Simulink software in MATLAB.
The simulation results of operation of these systems have been analysed in
order to get useful conclusions and recommendations for the electric drive
control system designer.
Keywords:
Control system simulation
Performance of AC and DC
electric drive
Speed control
Step change
Technical optimum
Variable moment of inertia
This is an open access article under the CC BY-SA license.
Corresponding Author:
Addasi Emad Said
Department of Electrical Power Engineering and Mechatronics
Faculty of Engineering, Tafila Technical University
Tafila, Jordan
Email: emad_addasi@yahoo.com
1. INTRODUCTION
The ac electric-drive control systems, nowadays, are used in almost all industrial applications more
than the DC-motor systems [1]. About four decades ago the asynchronous motors (induction motors) have
been operated under a fixed-frequency speed directly from the grid. Later, with the development of the
power-electronic devices, circuits and their capabilities, these machines had become able to operate with
adjustable frequency-speed through power-electronic converters. Using variable speed motor drive with open
loop may offer a satisfied performance at steady state conditions without need of speed regulation for some
applications. But, in the cases where the drive system requires fast dynamic response and accurate speed, the
open loop control becomes unsatisfactory. Therefore, it is necessary to operate the motor in a closed-loop
mode.
Although, both of these AC and DC electric drive control systems still may be found in use. Many
researchers paid attention to the DC and the AC electric machines [2]. Many of them studied the DC-motor
drives and their control [3-8]. Latha [8] studied the design of a model reference adaptive speed control of

Bulletin of Electr Eng & Inf ISSN: 2302-9285 
A comparative study of performance of AC and DC electric drive control systems... (Addasi E. Said)
589
brushless DC-motor drive. Ayyar et al. [7] paid attention to the design of the speed controller of converter
fed DC-motor drive using model order reduction technique.
Usually, the design of control system components to get high performance behavior, for high-order
systems, involves serious computational difficulties and ponderous tasks. Therefore, for such systems there is
a need in designing of high requirements controllers through suitable order-reduction of the model [9-13]. In
the works [9-13], authors studied different electric-drive control systems and designing different controllers.
Al-Abbas [14] studied a reduced order of high order control systems. In [1, 15-20] an electric-drive control
system with asynchronous motor had been analyzed. Addasi [21] presents a study of increasing moment of
inertia of a DC-motor control system.
The main problem in all the above mentioned researches is that: they did not make enough study
and comparison between the DC and the AC electric-drive control system performance, particularly under
the challenges of changing the moment of inertia during their operation. They did not study the effect of the
change, including the step-change, of the moment of inertia of the mechanical system. The main purpose, and
the contribution, of this paper is to produce a mathmodel, to simulate and analysis the results of the
simulations of these different-drive control systems with smooth- and step-changing of the moment of inertia
and then to make a comparison between the performance of both systems. This comparison study to be made
between both systems in steady-state as well in transient operation.
2. THE MATHEMATICAL MODEL OF THE DC MOTOR AND FOR THE INDUCTION
MOTOR
The mathmodel of the direct-current motor can be built on the basis of the well known equivalent
circuit of the DC motor [21]. The differential equation of the voltage balance of the armature circuit may be
given by the following equation:
dt
di
L
i
R
E
V a
a
a
a
a
s +
+
= (1)
where: Vs is the voltage of the power supply, a
i , La, Ra, the motor armature current, inductance and
resistance, respectively, Ea= m
e
K 
 is the back electromotive force in the armature circuit. From the
mechanical dynamics of the motor, the torque equation is:
m
L
m
B
T
T
dt
d
J 

−
−
= (2)
Where:
J = Total moment of inertia referred to the motor shaft, in kg.m2
T = Driving motor torque, in N.m
TL = Load torque, in N.m
Bvs = Viscous friction constant, in N.m.s
The voltage of the power supply is considered to be stable, balanced and no variation is going on.
The loaded slip-ring 3-phase asynchronous motor (SRIM) can be mathematically modelled by the following
five linear differential equations [22]. These state equations of the studied induction motor are expressed via
flux linkages in (α, β) system of coordinates:
)
( 






 −
−
= s
s
s
s
s
L
R
v
dt
d
(3)
)
( 







−
−
= s
s
s
s
s
L
R
v
dt
d
(4)










R
R
R
R
R
L
R
dt
d −
−
= )
( (5)

 ISSN: 2302-9285
Bulletin of Electr Eng & Inf, Vol. 10, No. 2, April 2021 : 588 – 597
590










R
R
R
R
R
L
R
dt
d
+
−
= )
( (6)
)
(
1



m
J
dt
d −
= (7)
where ω is the radian per second angular speed of the motor; 


 



'
' ,
,
, R
s
R
s are the flux linkages
of the SRIM stator and the rotor magnetic circuits in α and β axes, respectively; 
 
 , are the flux
linkages of the magnetization branch in α and β axes, respectively; v
v s
s 
 , are the voltages of the stator
side in α and β axes, respectively; R
R R
s , are the resistances of the stator and rotor windings per phase,
respectively; L
L R
s 
 , are the magnetic leakage inductances of the stator and the rotor circuits, respectively;
J is the total moment of inertia in kg.m2
of the system referred to the shaft of the motor,

 m
, are the
electromagnetic driving torque of the motor and the load torque in N.m., respectively
3. THE MODEL OF THE DC AND AC ELECTRIC DRIVE CONTROL SYSTEMS
The desired specifications of any control system are usually translated in the form of a transfer
function. For the industrial processes, whose performance are unsatisfactory with the reference model having
the desired performance, a controller should be designed such that to meet the specifications of the overall
system matching the reference model. Usually, the series controllers for high order systems are preferred
over the controllers in the feedback path, that because a large number of the state variables in the control
system would require large number of sensors in the feedback controller design.
In this work the series controllers were used, and the technical-optimum method (TOM) is used in
designing the controllers of these control systems, which is based on the well-know and widely used PID
controllers [9, 23-27]. Figure 1 illustrates the block diagram of such series-controller control system. Such a
control system has two feedbacks; the feedback of the current loop (the inner loop) and the angular speed (ω)
feedback (as the main loop and the outer loop). In the analyzed AC control system a slip ring 3-phase
induction motor (SRIM) is used. The load of this motor is considered with increasing, during operation,
moment of inertia (J) as the rotating mass is increasing. The variation of moment of inertia will be studied
during both starting and the steady-state conditions.
Figure 1. The general diagram of the studied control system with the two feedbacks
The considered transfer function of the both studied types of motors has a block-diagram, divided
into two components: the electrical component with the armature current output and the mechanical
component with angular speed output (ω). A transfer function of a first order type may describe the electrical
component, which can be written:
1
1
)
( .
+

=
s
R
L
R
s
G
a
a
t
a
a (8)

591
The gain of the mechanical component of the motor has the form:
s
K
s
G m
m =
)
( , where Km = KΦ/J.
The gain of the current feedback path element:
I
V
K C
Ifb

=

(9)
where λ is the relative (per unit) maximum starting current. By using the technical optimum method (TOM)
of design, the transfer function of the series-current regulator may be written:
s
T
G
G
Ir
Ir
cl
c
fb
Ir K
K 1
2
1 ,
+
=
= (10)
where KIr is the gain of the P-type controller, TIr is the time constant of the I-type current controller. The
transfer function of the current closed loop, designed using the TOM technique has the following final form:
1
2
1
2
2
1
1 ,
2
2
,
+



+
+
=
s
T
K
s
T
T
K
G c
fb
Ifb
TO
CL (11)
Finally the series-controller of the angular speed ω, using the same method will have the transfer function:
)
1
2
(
4
1
,
,
+


=
s
T
s
T
G
K
G
s
or
ifb
TO
SR (12)
4. SIMULATION, QUALITATIVE ANALYSIS AND COMPARISON
The both of DC and AC electric drive control systems were simulated and their performance had
been studied under different conditions of operation. The two systems were studied under the action of a
smooth and a step changes of load and of the moment of inertia. Figure 2 shows the block diagram created in
MATLAB/Simulink basing on the above presented mathmodel of the control system with DC-motor. Figure
3 illustrates the block diagram of the control system with slip-ring induction motor (SRIM). The numerical
examples of these systems were produced for the simulations, using Simulink software. Every one of these
case studies is applicable in many applications in industry like metal-rope winding mechanisms and paper
manufacturing machinery or in textile industry, in which the moment of inertia increases during the motor
rotation.
Figure 2. Block diagram of the control system with DC motor
100
1.6
s
1.7
0.2s+1
26
0.008s+1
-K- -K-
P
-K-
-K-
-K-
15
s
27
s
-K-
<= 1

 ISSN: 2302-9285
592
Figure 3. Block diagram of the control system with SRIM
Some results of simulations of these models are depicted in Figures 4-13. The curves in these
figures present the performance of the systems during transients and the steady-state conditions of the both
designed control systems at different operation conditions. Figure 4 shows the control system with
asynchronous motor performance at unchanged moment of inertia (J) during its operation. Figures 5(a)-(b)
illustrate the angular speed (ω) and the armature current (I) as a function of time with increasing moment of
inertia (J) for the SRIM control system. An examination of this figure shows that the duration of the transient
process is about 1.1 seconds, the speed overshoot is almost 0% and the steady-state error value in speed is
very small, it does not reach the value of 0.05%.
(a) (b)
Figure 4. SRIM system performance at constant J, (a) Speed versus time, (b) Current versus time
(a) (b)
Figure 5. SRIM system performance when J was tripled during 2 seconds, (a) Speed versus time, (b) Current
versus time
50
t
1.1
0.01s+1
-K-
94
den(s)
Sum7
S
R
-K-
-K-
P
2.2
s
0.4
J
num(s)
s
I1
95
s
I
-K-
0.1
-K-
-K-
-K-
<= 1

593
Figures 6(a)-(b) illustrate the angular speed ω and the armature current with variable J and load
torque but at different rotating speed for the same system. The curves show that the settling time takes only
1.4 second, the overshoot of the angular speed equals 1% and the steady-state error in speed value does not
overtake 0.05% of its rated value. The proposed model has been tested with a wide range of change in the
load and moment of inertia (J) and the results showed high performance of the system. Figure 7 shows the
performance of the control system with DC motor at constant moment of inertia (J). Figures 8(a)-(b) illustrate
the angular speed ω and the armature current curves, respectively, with variable J and load torque for the DC
motor system. From these curves it is noticed that the settling time extends for 1.6 second, the overshoot
reaches the border of 20% and the steady state error in speed value does not exceed 0.05%.
(a) (b)
Figure 6. SRIM system performance when J was increased 5 times of initial value during 2 seconds, (a)
Speed versus time, (b) Current versus time
(a) (b)
Figure 7. DC motor drive performance at constant J, (a) Speed versus time, (b) Current versus time
(a) (b)
Figure 8. DC motor drive performance when J was tripled during 2 seconds, (a) Speed versus time, (b)
Current versus time

 ISSN: 2302-9285
594
Figures 9(a)-(b) illustrate the angular speed and the current variations, respectively, with variable J
and load torque but at different operating speed for the same system. The curves show that settling time takes
3 second, the speed overshoot reaches the value of 20% and the steady-state error of the angular speed value
does not overstep the value of 0.05%. The proposed model has been tested with a wide range of change in the
load and moment of inertia (J) and it showed high performance of operation. By comparing the performance
of the AC and the DC motor systems it may be mentioned that in steady-state operation both of them, almost,
have the same high accuracy. In the other hand, the transient time duration and the overshoot values of the
angular speed of the SRIM system has much better performance.
(a) (b)
Figure 9. DC motor system performance when J was increased 5 times of initial value during 2 seconds,
(a) Speed versus time, (b) Current versus time
In Figures 10-13 are depicted the system angular speed ω and the armature current curves for the
both systems with step change of moment of inertia during starting time or after. Figure 10 shows that the
performance of the SRIM control system with step change of J during starting, where J was increased three
times of its initial value at the time of 0.3 second of the starting. The figure shows that the settling time takes
3.8 second and the speed overshoot value reaches a higher value (about 28%), which is sufficiently larger if
compare with the case of (J) step-change occurring after reaching the steady state. Figure 11 shows that the
performance of the SRIM with step change of J just after starting, where the J was increased three times of its
initial value at the instant of 1.2 second after starting. The figure shows that this change, almost, has no effect
on the system performance.
Figures 12 and 13 illustrate the DC-motor system performance with step change of J during starting
or after reaching the steady state. Figure 12 shows that the performance of the DC motor drive with a step
change of J during starting, where it was increased three times of its initial value at the instant of 0.3 second
after starting. The curves in this figure show that the settling time does not exceed 1.8 second and the speed
overshoot is limited to 4%. Figure 13 shows the performance of the DC motor drive with step change of J
just after starting, where moment of inertia was tripled at the instant of 1.2 second after starting. Curves in
this figure show that this change, almost, has no effect on the system performance.
(a) (b)
Figure 10. SRIM system performance with step change of J during starting (3 times at 0.3 sec), (a) Speed
versus time, (b) Current versus time

595
(a) (b)
Figure 11. SRIM system performance with step change of J just after starting (3 times at 1.2 sec),
(a) (b)
Figure 12. DC-motor system performance with step change of J during starting (3 times at 0.3 sec),
(a) (b)
Figure 13. DC-motor system performance with step change of J just after starting (3 times at 1.2 sec),
By examining the results of the simulations and comparing the performance of the SRIM- and the
DC-motor systems, as shown in Table 1, it may be noticed that in steady-state both of the studied systems,
have the same (or similar) high accuracy (same steady state error). In the other hand, the settling time and the
overshoot of the angular speed characteristics of the SRIM system is better than (smaller) the DC-motor
system operation except in case of step change of moment of inertia J during starting time. But this step
change during starting time is not real in practical applications. Therefore, the SRIM control system behaves
better than the DC one.

 ISSN: 2302-9285
596
Table 1. Comparing the performance of the AC and the DC motor control systems
The change of moment
of inertia (J)
Settling time in seconds Overshoot (%) Steady state error, less than
DC motor
system
Induction motor
system
DC motor
system
Induction motor
system
DC motor
system
Induction motor
system
Constant moment of
inertia (J)
0.9 1.1 10 1 0.05% 0.05%
J2 = 3J1
after starting
1.6 1.1 20 0 0.05% 0.05%
J2 = 5J1
after starting
3 1.4 20 1 0.05% 0.05%
J2 = 3J1
during starting
1.8 3.8 4 28 0.05% 0.05%
5. CONCLUSION
A mathematical model for the dynamic operation of both AC and DC electric drive control systems,
based on the technical optimum method technique, had been built. A simulation of both system models had
been produced using the powerful MATLAB software. The effect of the variation of moment of inertia on the
performance of both SRIM-and DC-motor control systems had been studied. Then a comparison analysis
between the two systems had been presented. The results of the simulations for both systems confirm that the
two designed models satisfied the required high performance of the control system in both steady state and
transients, even with step change of the moment of inertia. By comparing the performance of the studied AC
and DC motor systems it may be mentioned that in steady-state operation both of them have the same high
accuracy. They have a very small steady state error. In case of smooth or step increasing of the moment of
inertia J, the SRIM system has better performance. The overshoot of the angular speed in the SRIM does not
exceed the value of 1%, while for the DC-motor system it reaches 20%. The required settling time is small
enough for both models, but still better for the SRIM system. In the other hand, the settling time and the
overshoot of the angular speed characteristics of the SRIM were increased by a larger amount comparing to
the DC-motor system, in the case of step change of the moment of inertia during the starting, but this is not
substantial as this abrupt change during starting time is not real in practical applications.
ACKNOWLEDGEMENT
The author Emad Addasi would like to express his special thanks of gratitude to the administration
of his institution: Tafila Technical University, who gave him the opportunity and support during the
sabbatical year to prepare this paper.
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BIOGRAPHIES OF AUTHORS
Emad Addasi was born in Jordan in 1966. He received the MSc degree from Leningrad Institute
of Water Transport (Russia) in 1990 in specialization Electric Drive and Industrial Plants
Automation. His PhD was on Elaboration and Investigation of Winding-up Motion with
Permanent-magnet Motor from Saint-Petersburg State University of Technology and Design
(Russia) in 1994. His main research interests are electric machines, drives, transducers and
control. He is a professor in Electrical Power Engineering and Mechatronics Department at
Faculty of Engineering in Tafila Technical University in Jordan.
Abdullah M. Eial Awwad received the B.Sc. degree in electric power engineering from Tafila
Technical University, Tafila, Jordan, in 2006, the M.Sc. degree in electric power and control
engineering from the Jordan University of Science and Technology, Irbid, Jordan, and the Ph.D.
degree in electrical engineering from the Technical University of Berlin, Berlin, Germany in
2018. He is currently an assistant professor at the Tafila Technical University, Tafila, Jordan. His
research interests include control of power electronics, power system operation, electric
machines, renewable energy, and wide-bandgap semiconductors.

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A comparative study of performance of AC and DC electric drive control systems with variable moment of inertia