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Unit 2
Converter /Chopper fed DC drives
2.1 Single phase fully controlled rectifier fed separately excited dc motor drive:
Construction:
The Full converter Consists of four SCR’s T1,T2,T3,T4.
The input is 230V ac supply and output Vo is DC.
The load (separately excited dc motor) is connected to the output.
The equivalent circuit of the motor can be denoted by sum of Ra ,La and Eb
Full converter operates in First and Fourth quadrant
Working:
With Inductive load , the two modes of operation will be possible
i)Discontinuous current mode
ii) Continuous conduction mode
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i) Dis-Continuous Current mode
In this mode Load current becomes zero at some angle which is called as Extinction
angle β.Its operation is similar to the continuous current mode
Positive Half Cycle:
During Positive half cycle SCR T1 and T4 is
forward biased .
T1 T4 is triggered at firing angle α
T1 and T4 conducts from α to π. During this
the load current keeps on increasing as the
load is inductive (Inductor L gets charged)
At π supply voltage becomes zero but SCR T1
and T4 does not turns off ,as the inductor does
not allow the load current to become zero.
From π to β T1 and T4 conducts. During this
period load current decreases as the Inductor L
is discharged. After β the T1 and T4 is
switched off
From β to π+α the load current is Zero
Negative Half Cycle:
During Negative half cycle SCR T2 and T3 is
forward biased .
T2 T3 is triggered at firing angle π +α
T2 and T3 conducts from π +α to2 π. During
this the load current keeps on increasing as the
load is inductive (Inductor L gets charged)
At2 π supply voltage becomes zero but SCR T2
and T3 does not turns off ,as the inductor does
not allow the load current to become zero.
From 2π to β T2 and T3 conducts. During this
period load current decreases as the Inductor
L is discharged After β the T2 and FD is
switched off.
From β to 2π+α the load current is Zero
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DisContinuous mode of Conduction of Full converter with RL load
VS = Supply Voltage V0 = Output Voltage
IG1 = Triggering Pulse for T1 Io = Output Current
IG2 = Triggering Pulse for T2 Is = Supply Current
α= Firing Angle β=Extinction Angle
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Steady state analysis of discontinuous conduction mode:
Since
d/dt = D
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To find CF
The Auxiliary Equation from (3) is
Sub: (5) in (6)
--------- (6)
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From (3) to find PI1 Since d/dx(Sinn x) = n Cosn x
Since (a+b) (a-b) =a2 - b2
Sub: D2 = - ω2 in above equation
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since
-----------(7)
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From (3) to find PI2
-----------(8)
-----------(9)
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Now sub/: ia(α) = 0 in (9) to find C1
-----------(10)
Sub/: (10) in (9)
----(11)
Now sub/: ia(β) = 0 in (11)
----(12)
β can be evaluated by iterative solution
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Average output voltage :
----(13)
---------------(14)
1
-------------------------(15)
1
----------------------(16)
1 in (12)
Sub/: (12) (14) & (15)
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To find the critical speed (ωmc)
Sub/: β = π +α in (12)
Since
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ii) Continuous Current mode
Positive Half Cycle:
During Positive half cycle SCR T1 and T4 is
forward biased .
T1 and T4 is triggered at firing angle α
T1 and T4 conducts from α to π. During this
the load current keeps on increasing as the
load is inductive (Inductor L gets charged)
At π supply voltage becomes zero but SCR T1
and T4 does not turns off ,as the inductor does
not allow the load current to become zero.
From π to π+α T1 and T4 continues to
conducts . During this period load current
decreases as the Inductor L is discharged
Negative Half Cycle:
During Negative half cycle SCR T2 and T3 is
forward biased .
T2 T3 is triggered at firing angle π +α
T2 and T3 conducts from π +α to2 π. During
this the load current keeps on increasing as the
load is inductive (Inductor L gets charged)
At 2 π supply voltage becomes zero but SCR T2
and T3 does not turns off ,as the inductor does
not allow the load current to become zero.
From 2π to 2π+α T2 and T3 conducts. During
this period load current decreases as the
Inductor L is discharged
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Continuous mode of Conduction of Fullconverter with RL load
VS = Supply Voltage V0 = Output Voltage
IG1 = Triggering Pulse for T1 T4 Io = Output Current
IG2 = Triggering Pulse for T2 T3 Is = Supply Current
α=Firing angle
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Steady state analysis of continuous conduction mode:
Since
---------------(1)
1
---------------(2)
1
-------------------------(3)
1
----------------------(4)
Sub/: (1) (3) (4) in1(2)
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2.2 Three phase fully controlled rectifier fed separately excited dc motor drive:
It consists of Six SCR T1,T2,T3,T4,T5,T6
T1,T3,T5 are considered as positive
group and T2,T4,T6 are considered as
negative group
Here RLE (motor) Load is connected to
the load
It requires six gate pulses so it is called
as 6 pulse converter
SCR’s must be triggered in the sequence
T1, T2, T3, T4, T5 and T6.
In full converter, the phase shift
between triggering two SCR’s is 600 and
Each SCR conduct for 1200.
At an instant two SCR’s conduct, one
from upper end (positive group) and
other from lower end (negative group).
No pair of SCR’s will conduct from same
end .
It operates in First and Fourth quadrant
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For α=60 :
Here firing pulse is given at an angle of α=600
At α=600 T1 is triggered ,At this instant RY line voltage (VRY) is applied to the load .Hence T1
and T6 [Link] T1 T6 conducts from 600 to 1200.
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At 1200 T2 is triggered, at this instant RB line voltage (VRB) is applied to the load. Hence T1
and T2 conducts. Here T1 T2 conducts from 1200 to 1800.
At 1800 T3 is triggered, at this instant YB line voltage (VYB) is applied to the load. Hence T3
and T3 conducts. Here T3 T2 conducts from 1800 to 2400.
At 2400 T4 is triggered, at this instant YR line voltage (VYR) is applied to the load. Hence T3
and T4 conduct. Here T3 T4 conducts from 2400 to 3000.
At 3000 T5 is triggered, at this instant BR line voltage (VBR) is applied to the load. Hence T5
and T4 conduct. Here T5 T4 conducts from 3000 to 3600.
At 3600 T6 is triggered, at this instant BY line voltage (VBY) is applied to the load. Hence T5
and T6 conduct. Here T5 T6 conducts from 3600 to 4200.
The Sequence continues in next cycle.
Steady state analysis of continuous conduction mode:
Since
Since
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-------- (1)
-------- (2)
-------- (3)
-------- (4)
Sub/: (1) (3) (4) in (2)
2.3 Dual Converters:
• It consists of two single phase full converter connected back to back
• It operates in all the four quadrants.
• P converter has the output V01 and it operates in rectification mode (α
<90)
• N converter has the output V02 and it operates in inversion mode (α >90)
• The P converter will operate in first and Third quadrant.
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• The N converter will operate in second and fourth quadrant.
• Here the two converters operate in inductive
Load
• The average output voltage is of converter 1
• The average output voltage is of converter 2
• Since one converter operates in rectifying mode and other in inversion
mode , The average output voltage will be equal but opposite in sign
Since
The P converter is triggered at α1 <90 and The N converter is triggered at
α2 >[Link] the average values of V01 and V02 are equal but opposite in
sign.
The Dual converter operates in two modes
i)Circulating current mode (Both converters are always on )
ii)Non Circulating current mode ( Only one converter is on & other is off )
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i) Circulating current mode:
In the circulating current mode of dual converter ,both the converters
are always on.
The firing pulses of two converters are adjusted so that α1 + α2 =1800
If firing angle α1 of converter 1 is 600 , firing angle α2 of converter 2 is
1200 because α2 = 1800 -600 =1200.
Here one converter will operate in rectifier mode and other converter
will operate in inverter mode.
As both the converters are on , the circulating current flows between
the two converters.
ii) Non Circulating current mode:
In the non circulating current mode of dual converter ,only one
converter is on at a time and other is off
Suppose if should be on , the firing pulses will be given to converter 1
alone from the triggering circuits.
To switch on converter 2 , the firing pulses will be given to converter 2
alone from the triggering circuits and firing pulses from converter 1 will
be removed
If firing angle α1 of converter 1 is 600 , firing angle α2 of converter 2 is
1200 because α2 = 1800 -600 =1200.
Here one converter will operate in rectifier mode and other converter
will operate in inverter mode.
As only one converters is on at a time , the no circulating current flows
between the two converters.
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Waveform for 1 φ dual converter:
V01 = output of converter 1
V02 = output of converter 2
α = firing angle
Vr = Reactor voltage
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2.4 CHOPPER CONTROL TECHNIQUES:
The output of chopper can be controlled by various techniques as follows
1) Time ratio control (TRC)
2) Current limit control (CLC)
1) Time Ratio control (TRC):
In this scheme, Ton /T (duty cycle) is [Link] is can be done using two techniques.
a) Constant frequency system
b) Variable frequency system
a) Constant Frequency System : (Variable Ton)
This scheme is also called as Pulse width modulation scheme
During on time Ton is varied but the total time period (T) is kept as constant.
As T is kept as constant , by the relation T=1/f we can say this scheme as constant
frequency system
By changing the width of the Ton , width of the Toff also varied.
In the first waveform Ton is less .Hence output voltage is low.
In the second waveform Ton is high. Hence output voltage is high.
Advantages:
Chopper operates at constant frequency. Hence it is easier to design the filters.
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b) Variable Frequency System : (Constant Ton or Toff , Variable F)
This scheme is also called as Frequency modulation scheme.
In this scheme either Ton or Toff is kept constant and the total time period (T) is varied.
As T is variable , by the relation T=1/f we can say this scheme as variable frequency
system.
In the first waveform Ton is high. Hence output voltage is high.
In the second waveform , To reduce the output voltage , Toff is increased by keeping
Ton as constant. Due to this Time period T also increases which in turn reduces the
frequency.
Dis -advantages:
This scheme has some disadvantages,
As the frequency is variable , it is difficult to design the filters.
The control circuit becomes complex , since the frequency is not fixed.
The large off time may make the load current discontinuous.
Due to the above disadvantages ,Constant Frequency system is better Variable frequency
scheme
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2) Current Limit Control (CLC) :
In this control scheme , the on and off of the chopper is controlled by
previously set value (i1 and i2) of output current.
If output current reduces to the lower limit i1 , then chopper is switched
on. This in turn increases the output voltage and output current.
If output current increases to the upper limit i2 , then chopper is switched
off. This makes the load current to decrease linearly. When the load current
reaches i1 the chopper turns on and the sequence continues.
Switching frequency of chopper can be controlled by setting i1 and i2.
ADVANTAGES:
The output current controls the on and off time off the chopper.
Output current is regulated.
Disadvantages:
As the Current Limit control involves feedback loop, the control circuit is complex.
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2.5 Chopper fed DC drives :
Chopper fed DC drives is classified into
i) Type A chopper (Motoring chopper)
ii) Type B chopper (Regenerative braking)
iii) Type C chopper (Two quadrant chopper)
iv) Type D chopper (Two quadrant chopper)
v) Type E chopper (Four quadrant chopper)
2.5.1 Type A chopper (Motoring chopper):
D.C Chopper consists of switch (Ch1)
, diode (D),input d.c power supply
and load (motor)
The switch (Ch1) can be a power
transistor , SCR , GTO , MOSFET ,
IGBT or similar switching devices.
It operates in first quadrant
Forward Motoring Takes places
Mode 1 (Ch1 on)
During Ch1 on
SW is on
Diode is off
L charges
Vo = Vs
Io increases from I1 to I2
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Mode 2 (Ch1 off)
During Ch1 off
Ch1 is off
Diode is on
L discharges
Vo = 0
Io decreases from I2 to I1
Waveforms: Working:
During Ch1 on.
In this mode Ch1 is turned on
During this period , output
voltage (V0) will be equal to
supply voltage (Vs )
During this period , inductor L
charges and output current
increases from I1 to I2
During Toff
In this mode Ch2 is turned off.
Free wheeling diode will be
turned on and load current flows
through it.
During this period , output
voltage (V0) will be equal to zero
During this period , inductor L
discharges and output current
decreases from I2 to I1
Va = Armature voltage ; Ia = Armature current
Since
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2.5.2 Type B chopper (Regenerative braking chopper):
D.C Chopper consists of switch (Ch1)
, diode (D) ,input d.c power supply
and load (motor)
The switch (Ch1) can be a power
transistor , SCR , GTO , MOSFET ,
IGBT or similar switching devices.
It operates in Second quadrant
Forward Braking takes places
Mode 1 (Ch1 on)
During Ch1 on
Ch1 is on
Diode is off
L charges
Vo = Vs
Io increases from I1 to I2
Current flows from CH1 to
Motor
Mode 2 (Ch1 off)
During Ch1 off
Ch1 is off
Diode is on
L discharges
Vo = 0
Io decreases from I2 to I1
Current flows from Motor to supply
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Waveforms: Working:
During Ch1 on.
In this mode Ch1 is turned on
During this period , output
voltage (V0) will be equal to
supply voltage (Vs )
During this period , inductor L
charges and output current
increases from I1 to I2
During Ch1 off
In this mode Ch1 is turned off.
Free wheeling diode will be
turned on and load current flows
through it.
During this period , output
voltage (V0) will be equal to zero
During this period , inductor L
discharges and output current
decreases from I2 to I1
Va = Armature voltage ; Ia = Armature current
Since
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2.5.3 Type C chopper : (Two quadrant Chopper)
D.C Chopper consists of switch
(Ch1),(Ch2) , diodes(d1,d2),input d.c
power supply and load (motor)
The switch (Ch1,Ch2) can be a power
transistor , SCR , GTO , MOSFET , IGBT
or similar switching devices.
It operates in first and Second quadrant
Forward motoring and forward Braking
takes places
Waveforms:
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Forward motoring mode: (Ch1 ,D2 operated)
This mode operates in First quadrant
In this mode voltage and current is positive.
Motor rotates in Forward direction
Power flows from source to load
Ch1 on:
In this mode Ch1 is turned on
During this period , output voltage (V0) will be equal to supply voltage (Vs )
During this period , inductor L charges and output current increases
Ch1 off
In this mode Ch1 is off and diode d2 will be turned on and load current flows through it.
During this period , inductor L discharges and output current decreases
During this period , output voltage (V0) will be equal to zero
Reverse braking mode: (Ch2 ,D1 operated)
This mode operates in second quadrant
In this mode voltage is positive and current is negative.
In this mode motor acts as a generator
Power flow from load to source
Ch1 on:
In this mode Ch2 is turned on
During this period , output voltage (V0) will be equal to zero
During this period , inductor L charges in negative and output current increases in negative
Ch1 off
In this mode Ch2 is off and diode d1 will be turned on and load current flows through it.
During this period , inductor L discharges and output current decreases negative
During this period , output voltage (V0) will be equal to supply voltage Vs
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2.5.4 Type D chopper : (Two quadrant Chopper)
D.C Chopper consists of switch
(Ch1),(Ch2) , diodes(d1,d2),input d.c
power supply and load (motor)
The switch (Ch1,Ch2) can be a power
transistor , SCR , GTO , MOSFET , IGBT
or similar switching devices.
It operates in first and fourth quadrant
Forward motoring and reverse Braking
takes places
Waveforms:
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Forward motoring mode: (Ch1 ,CH2 on)
This mode operates in First quadrant
In this mode voltage and current is positive.
Motor rotates in Forward direction
Power flows from source to load
Ch1 & Ch2 on:
In this mode Ch1 & Ch2 is turned on
During this period , output voltage (V0) will be equal to supply voltage (+Vs )
During this period , inductor L charges and output current increases
Power flows from source to load
Reverse braking mode: (D1 , D2 on)
This mode operates in fourth quadrant
In this mode voltage is Negative and current is Positive.
In this mode motor acts as a generator
Power flows from load to source
Ch1 & Ch2 off
Ch1 & Ch2 is off and diode d1 &d2 will be turned on and load current flows through it.
During this period , inductor L discharges and output current decreases negative
During this period , output voltage (V0) will be equal to supply voltage(- Vs)
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2.5.5 Type E chopper : (Four quadrant Chopper)
D.C Chopper consists of switch
(Ch1,Ch2,Ch3,Ch4) &
diodes(d1,d2,d3,d4),input d.c power supply
and load (motor)
The switch (Ch1,Ch2) can be a power
transistor , SCR , GTO , MOSFET , IGBT or
similar switching devices.
It operates in all the four quadrant
Motoring and Braking takes place both in
forward and reverse direction.
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Forward Motoring Mode:
This mode operates in First
quadrant
In this mode voltage and current
is positive.
Motor rotates in Forward
direction
Power flows from source to load
In this mode Ch4 is always on and
Ch1 is operated .
Ch1 on (Ch4 always on):
In this mode Ch1 & Ch4 is turned on
During this period , output voltage (V0) will be equal to supply voltage Vs
During this period , inductor L charges and output current increases
Ch1 off (Ch4 always on):
In this mode Ch1 is off but CH4 is on and diode d2 will be turned on and load current
flows through it.
During this period , inductor L discharges and output current decreases
During this period , output voltage (V0) will be equal to zero.
Forward Braking Mode:
This mode operates in Second
quadrant
In this mode voltage is positive
and current is negative .
Motor acts as a generator.
Power flows from load to source
In this mode D4 is always on and
Ch2 is operated.
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Ch2 on (D4 always on):
In this mode Ch2 & D4 is turned on
During this period , inductor L charges and output current increases
Ch2 off (D4 always on):
In this mode Ch2 is off but D4 is on and diode D1 will be turned on and load current flows
through it.
During this period , inductor L discharges and output current decreases
During this period the stored energy from inductor will be given to the load. Hence output
voltage will be equal to Vo = Vs + L (di/dt)
Reverse Motoring Mode:
This mode operates in third
quadrant
In this mode voltage and current
is negative .
Motor acts runs in reverse
direction.
Power flows from source to load
In this mode Ch2 is always on and
Ch3 is operated.
Ch3 on (Ch2 always on):
In this mode Ch3 & Ch4 is turned on
During this period , output voltage (V0) will be equal to supply voltage (- Vs)
During this period , inductor L charges and output current increases in negative
Ch3 off (Ch4 always on):
In this mode Ch3 is off but CH2 is on and diode D4 will be turned on and load current
flows through it.
During this period , inductor L discharges and output current decreases in negative.
During this period , output voltage (V0) will be equal to zero.
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Reverse Braking Mode:
This mode operates in Fourth
quadrant
In this mode voltage is negative
and current is positive .
Motor acts as a generator.
Power flows from load to source
In this mode D2 is always on and
Ch4 is operated.
Ch4 on (D2 always on):
In this mode Ch4 & D2 is turned on
During this period , inductor L charges and output current increases
Ch4 off (D2 always on):
In this mode Ch4 is off but D2 is on and diode D3 will be turned on and load current flows
through it.
During this period , inductor L discharges and output current decreases
During this period the stored energy from inductor will be given to the load. Hence output
voltage will be equal to Vo = -(Vs + L (di/dt))