Topic 2

DC Motor Drives
(Part II)
Part I:
 Review of basic characteristics of DC motors:
 Permanent magnet motor
 Separately excited motor
 Self exited motor
 DC motors operating modes

Part II:
 Single phase converter drives
 Three phase converter drives

Part III:
 DC to DC converter drives
 Chopper based DC drives
 Closed loop control of DC motors
 Applications of DC motors in electric traction, process
industries, computers and robotics.
2
 Introduction
 Configuration of DC motor drives depends on the electrical power available.
Electrical power is commonly available as either DC or AC. Its shape and
magnitude are usually not what you need.

 Converter plays an important role in the DC motor drives:

1) Controlled rectifiers -- provide a variable DC output voltage

from a fixed AC voltage

2) DC-DC converter -- provide a variable DC output voltage from a

fixed DC voltage

 Due to their ability to supply a continuously variable DC voltage, controlled

rectifiers and DC-DC converters have made a revolution in modern industrial
control equipment and variable-speed drives, with power levels ranging from
fractional horsepower to several megawatt.

3
  The diode rectifier shown in Figure 1
provides a fixed output voltage.

Figure 1. Single-phase diode bridge rectifier

Controlled Rectifiers
 In order to obtain controlled output voltages,
phase-control thyristors are used instead of
diodes. The output voltage of thyristor rectifiers is
varied by controlling the delay or firing angle of
thyristors.

4
 A phase-controlled thyristor is turned on by applying a short pulse (when
forward biased) to its gate and turned off due to natural or line commutation.

 These phase-controlled rectifiers are simple and less expensive; and the
efficiency of these rectifiers is above 95%. Because these rectifiers convert
from AC to DC, these controlled rectifiers are also called AC-DC converter
and are used extensively in industrial applications, especially in variable-
speed drives, ranging from fractional horsepower to megawatt power level.

 The phase-control led converters can be classified into two types, depending
on the input supply: (1) single-phase converter and (2) three-phase
converter. Each type can be subdivided into:
(1) Half-wave converter –uses a single thyristor device to provide output
control only in one half cycle of ac supply
(2) Semiconverter – half controlled bridge converter, using 2 SCR’s and 2
diodes, to provide single quadrant operation
(3) Full converter – fully controlled bridge converter which requires four
SCR’s, to provide two quadrant operation
.
(4) Dual converter – two single phase full converters connected back to back
to provide four quadrant operation.
5
 Single-Phase Half-Wave Converter

Figure 2. Single-phase thyristor converter with a resistive load

6
 During the positive half-cycle of input voltage, the thyristor anode is positive
with respect to its cathode and the thyristor is said to be forward biased.
When thyristor T1 is fired at ωt = α, thyristor T1 conducts and the input
voltage appears across the load.

 When the input voltage starts to be negative at ωt = π, the thyristor anode is

negative with respect to its cathode and thyristor T1 is said to be reverse
biased; and it is turned off.

 The time after the input voltage starts to go positive until the thyristor is fired
at ωt= α is called the delay or firing angle α

 This converter is not normally used in industrial applications because its

output has high ripple content and low ripple frequency. However, it explains
the principle of the single-phase thyristor converter. If fs is the frequency of
input supply, the lowest frequency of the output ripple voltage is fs.
 The average output voltage Vdc can be found from

1 π Vm Vm
Vdc = ∫α Vm sin ωt d (ωt ) = [− cos ωt ]α = (1 + cos α )
π

2π 2π 2π
7
Single-Phase Semiconverters
is

Figure 3. Single-phase
semiconverter

A highly inductive (infinity) load is connected to

the rectifier. The thyristor will be turned ON if
the firing pulse is applied to the gate when
vs > E .

8
 During the positive half-cycle, thyristor T1 is forward biased. When T1 is fired
at ωt= α, the load is connected to the input power through the T1 and D2
during α < ωt < π.

 During the period π < ωt < (π+α), the input voltage is negative and the
freewheeling diode Dm is forward biased. Dm conducts to provide the
continuity of current in the inductive load. The load current is transferred from
T1 and D2 to Dm; and T1 and D2 are turned off.

 During the negative half-cycle, thyristor T2 is forward biased and T2 is fired

at ωt = π + α and Dm is reverse biased. The diode Dm is turned off and the
load is connected to the supply through the T2 and D1.

 The average output voltage Vdc can be found from

2 π 2Vm Vm
Vdc = ∫α Vm sin ωt d (ωt ) = [− cos ωt ]α = (1 + cos α )
π

2π 2π π

9
 Single-Phase Full Converters

Figure 4. Single-phase full converter

10
 During the positive half-cycle, thyristor T1 and T2 are forward biased; and
when the two thyristors are fired simultaneously at ωt = α, load is connected
to the input power through the T1 and T2. Due to the inductive load, T1 and T2
continue to conduct beyond ωt= π, even though the input voltage is negative.
 During the negative half-cycle, T3 and T4 are forward biased; and firing of T3
and T4 applies the supply voltage across T1 and T2 as reverse blocking
voltage. T1 and T2 are turned off and the load current is transferred fromT1
and T2 to T3 and T4.

 During the period from α to π, the input voltage and input current are positive;
and the power flows from the supply to the load (rectification mode). During
the period from π to π+α, the input voltage is negative and the input current is
positive and reverse power flows from the load to the supply (inversion
mode).

 This converter is extensively used in industrial application up to 15kW.

 The average output voltage Vdc can be found from

2 π +α 2Vm 2Vm
Vdc = ∫α Vm sin ωt d (ωt ) = [− cos ωt ]α = cos α
π +α

2π 2π π
11
 Single-Phase Dual Converters

Figure 5. Single-phase dual converter

 If two sets of single-phase full converters are connected back-to-back, both

the output voltage and the load current flow can be reversed. The system
provides a four-quadrant operation and is called dual converters. Dual
converters are normally used in high-power variable-speed drives.

12
If α1 and α2 are the delay angles of
converter 1 and 2 respectively, the
corresponding average output voltage
are Vdc1 and Vdc2. The delay angles are
controlled such that one converter
operates as a rectifier and the other
converter operates as an inverter; but
both converters produce the same
average output voltage.

Figure 5. Single-phase dual

converter
13
Single-Phase Dual Converters
2 π +α
Vdc = ∫ Vm sin ωt d (ωt )
2π α

2Vm
= [− cos ωt ]απ +α
2π
2Vm
= cos α
π
2Vm
Vdc1 = cos α1
π
Similarly,
2Vm
Vdc 2 = cos α 2
π

Figure 5.
Single-phase
dual converter
14
 Single-Phase Dual Converters

Because one converter is rectifying and the

other one is inverting,

Vdc1 = −Vdc 2

cosα 2 = cos(π − α1 ) = −cosα1

Therefore,

α 2 = π − α1

Figure 5. Single-phase dual

converter
15
 Three-Phase Half-Wave Converter

 Three-phase converters provide a higher average output voltage, and

in addition the frequency of the ripples on the output voltage is higher
compared with that of the single-phase converter. As a result, the
filtering requirements for smoothing out the load current and load
voltage are simpler. For these reasons, three-phase converters are
used extensively in high-power variable-speed drives.
16
 Three-Phase Half-Wave Converter

 The device which is connected

to the phase having the highest
instantaneous voltage will
conduct.

a b c a b
c

Figure 6. Three-phase half-

wave converter
17
 vR vY vB
V
Angle
0 60 120 180 240 300 360 420 480 540 600 660 720
 Three-Phase Half-Wave Converter

 When thyristor T1 is fired at ωt

= π/6 + α, the phase voltage van
appears across the load until
thyristor T2 is fired at ωt = 5π/6
+ α. When T2 is fired, T1 is
reversed biased, because the
line-to-line voltage, vab (=van-
vbn), is negative and T1 is
turned off. Figure 6. Three-phase half-
wave converter 19
 Three-Phase Half-Wave Converter

 The phase voltage vbn appears

across the load until T3 is fired
at ωt= 3π/2 + α. When T3 is
fired, T2 is turned off and vcn
appears across the load until
T1 is fired again at the
beginning of next cycle.

Figure 6. Three-phase half-wave converter

20
 Three-Phase Half-Wave Converter

 The average output voltage Vdc

can be found from

3 5π / 6+α
Vdc = ∫π / 6+α Vm sin ωt d (ωt )
2π
3 3Vm
= cos α
2π

Figure 6. Three-phase half-wave converter

21
Three-Phase Half-Wave Converter
 For resistive load and α>π/6,
 The average output voltage Vdc
the load current would be
can be found from
discontinuous, and each
thyristor is self-commutated 3 π
when polarity of its phase
Vdc =
2π ∫π / 6 +α
Vm sin ωt d (ωt )
voltage is reversed. The
3Vm  π 
frequency of output ripple = 1 + cos + α 
voltage is 3fs. 2π  6 

Figure 6. Three-phase half-wave

converter
22
 α

Three-Phase Half-Wave Converter

Three-phase uncontrolled bridge rectifier

D5 & D6
D1 & D6

D1 & D2

D3 & D2

D3 & D4

D5 & D4
D5 & D6

D1 & D6

D1 & D2

D3 & D2

D3 & D4

D5 & D4
V3

D5 D1 D3 D5 D1 D3 D5

D6 D2 D4 D6 D2 D4

The device which is +

connected to the +
+
phase having the -
highest
instantaneous voltage
will conduct.
Three-Phase Semiconverter
 Three-Phase Semiconverter

Figure 7. Three-phase
26

semiconverter
Three-Phase Semiconverter
 During the period π/6 < ωt < 7π/6,
T1 is forward biased. If T1 is fired at
ωt = π/6 + α, T1 and D1 conduct
and the lin-to-line voltage vac
appears across the load. At ωt =
7π/6, vac starts to be negative and
the freewheeling diode Dm
conducts. The load current
continues to flow through Dm; and
T1 and D1 are turned off.

Figure 7. Three-phase semiconverter

27
 Three-Phase Semiconverter
 If there were no freewheeling diode, T1 would continue to conduct
until T2 is fired at ωt = 5π/6 + α and the freewheeling diode action
would be accomplished through T1 and D2.

Figure 7. Three-phase semiconverter

28
 Three-Phase Semiconverter

 For α > π/3, the discontinuous average output voltage Vdc can be found
from
3 7π / 6
Vdc =
2π ∫π / 6 +α
Vac d (ωt )

3 7π / 6 π
=
2π ∫π / 6 + α
3Vm sin(ωt − )d (ωt )
6
3 3Vm
= (1 + cos α )
2π
Three-Phase Semiconverter
If α < π/3, each thyristor conducts for
2π/3 and the freewheeling diode
does not conduct.

 For α < π/3, the continuous

average output voltage Vdc can be
found from
3  π /2 5π / 6 +α
Vdc = ∫π Vab d (ωt ) + ∫ Vac d (ωt )
2π  / 6 +α π /2 
3 3Vm
= (1 + cos α )
2π

Figure 7. Three-phase semiconverter

30
 Three-Phase Full Converters

Figure 8. Three-phase
full converters

Vc Va Vb Vc Va Vb Vc

Vb Vc Va Vb Vc Va
31
 3-phase converters are extensively
used in industrial applications up to
the 120-kW level, where 2-quadrant
operation is required.
 The thyristors are fired at an
interval of π/3. The frequency
of output ripple voltage is 6fs &
the filtering requirement is less
than the half-wave converters.
 At ωt = π/6 + α, T6 is already
conducting and T1 is turned on.
During interval (π/6 + α) < ωt <
(π/2 + α), T1 and T6 conduct
and the voltage(L-L) vab
appears across the load.
 At ωt = π/2 + α, T2 is fired & T6
is reverse biased immediately.
T6 is turned off due to natural
commutation. During interval
(π/2 + α) < ωt < (5π/6 + α), T1 &
T2 conduct & the voltage(L-L)
vac appears across the load.
33
 The average output
voltage Vdc can be
found from

3 π / 2 +α
Vdc =
π ∫π / 6 +α
Vab d (ωt )

3 π / 2 +α π
=
π ∫π / 6 +α
3Vm sin(ωt +
6
)d (ωt )

3 3Vm
= cos α
π Figure 8. Three-phase full converters
34
Three-Phase Dual Converters

Figure 9. Three-phase dual converters

35
Three-Phase Dual Converters

Figure 9. Three-phase dual converters

36
 Three-Phase Dual Converters
 In many variable-speed drives, the four-
quadrant operation is generally required
and three-phase dual converters are
extensively used in applications up to
the 2000-kW level.
 Due to the instantaneous voltage
differences between the output voltages
of converters, a circulating current flows
through the converters. The circulating
current is normally limited by circulating
reactor Lr. The two converters are
controlled in such a way that if α1 is the
delay angle of converter 1, the delay
angle of converter 2 is α2.

 The operation of each converter is

identical to the three-phase full
converter. During interval (π/6 + α1) <
ωt < (π/2 + α1), the line-to-line voltage
vab appears across the output of
converter 1, and vbc appears across
converter 2. Figure 9. Three-phase dual converters
37
 Three-Phase Dual Converters

3 3Vm
Va = Vf = cos α
π

 The circulating current

can be found from
1 ωt
ir (t ) =
ωLr ∫π / 6 +α1
vr d (ωt )

Figure 9. Three-phase dual converters

38
DC Motor Drives
Single-Phase Three-Phase DC-DC
Converter Drives Converter Drives Converter Drives
For low cost, low  For higher power  For low to medium
power applications
drives (up to MW power DC supplied
(up to about 10kW) a
single phase rectifier range), three- drives (such as
can be used. phase supply with battery), a chopper
three-phase (DC-DC converter)
Low-power, rectifier is normally are used.
economical drives employed.
can also be
constructed using
single phase half-
wave rectifier with
free-wheeling diodes.

39
 Single-Phase Drives

Figure 10. Basic circuit arrangement of a single-phase DC drive

 If the armature circuit of a DC motor is connected to the output of a 1-phase controlled
rectifier, the armature voltage can be varied by varying the delay angle of the
converter αa.
 At a large delay angle, the armature current may be discontinuous, and this would
increase the losses in motor. A smoothing inductor, Lm is normally connected in
series with the armature circuit to reduce the ripple current to an acceptable
magnitude.
 Depending on the type of 1-phase converters, 1-phase drives may be subdivided into:
(1) Single-phase half-wave converter drives
(2) Single-phase semi-converter drives
(3) Single-phase full converter drives
(4) Single-phase dual-converter drives 40
 Single-Phase Half-Wave Converter Drives

Figure 11. Single-phase half-wave converter drives

 The armature current is normally discontinuous unless a very large inductor is
connected in the armature circuit. A freewheeling diode is always required for
a DC motor load and it is a one-quadrant drive. The applications of this drive
are limited to the ½ kW power level.
41
 The converter in the field circuit can be a semiconverter. A half-wave
converter in the field circuit would increase the losses of the motor due to
high ripple content on the field excitation current.

 With a single-phase half-wave converter in the armature circuit, the average

armature voltage is

Vm
Va = (1 + cos α a )
2π

where Vm is the peak voltage of the ac supply. With a semiconverter in the

field cicuit, the average field voltage is

Vm
Vf = (1 + cos α f )
π

42
 Single-Phase Semiconverter Drives

Figure 12. Single-phase semiconverter drives

 It is a one-quadrant drive and is limited to application up to 15kW. The converter in the
field current can be a semiconverter.
 With a single-phase semiconverter in the armature circuit, the average armature
voltage and field voltage are
Vm Vm
Va = (1 + cos α a ) , Vf = (1 + cos α f )
π π
43
 Single-Phase Full Converter Drives

Figure 13. Single-phase full converter drives

 It is a two-quadrant drive and is limited to application up to 15kW. The armature
converter gives +Va or –Va, and allows operation in two quadrants.
 During regeneration for reversing the direction of power flow, the back emf of the
motor can be reversed by reversing the field excitation.
 With a single-phase full converter in the armature circuit, the average armature
voltage and field voltage are
2Vm 2Vm
Va = cos α a , Vf = cos α f
π π 44
 Single-Phase Dual Converter Drives

Figure 14. Single-phase dual converter drives

 It is a four-quadrant drive and permits four modes of operation and is limited to
application up to 15 kW. The field converter could be a full-wave, a semi, or a dual
converter.
 With a single-phase dual converter in the armature circuit, the average armature
voltage and field voltage are
2Vm 2Vm
Va = cos α a1 , or Va = cos α a2
π π
2Vm
Vf = cos α f
π
45
 Three-Phase Converter Drives
 Three-phase drives are used for high power applications up to megawatt power level.
The ripple frequency of the armature voltage is higher than that of single-phase drives
and it requires less inductance in the armature circuit to reduce the armature ripple
current.
1. Three-phase half-wave converter drives
3 3Vm 3 3Vm
Va = cos α a , Vf = (1 + cos α f )
2π 2π
2. Three-phase semiconverter drives
3 3Vm 3 3Vm
Va = (1 + cos α a ) , V f = (1 + cos α f )
2π 2π
3. Three-phase full converter drives
3 3Vm 3 3Vm
Va = cos α a , V f = cos α f
π π
4. Three-phase dual converter drives

3 3Vm 3 3Vm
Va = cos α a1 , or Va = cos α a 2
π π
3 3Vm
Vf = cos α f
π 46
Example 1
A brushless dc motor has 3 phases and 6 poles. The electromagnetic
torque is 4 Nm with a current of 0.5 A rms. The friction and iron
losses are negligible. The resistance and inductance per phase are
70 Ω and 50 mH, respectively. Calculate
(a) the torque and emf constants;
(b) the emf generated at a speed of 600 rpm;
(c) the supply frequency for (b), and
(d) check whether ωL<R.

Solution:
a)

47
(b)

(c)

(d)

48
Example 2

49
 Example
• Design a single-phase half wave converter to
produce an average voltage of 40V across 100Ω
load resistor from a 120Vrms 60 Hz ac source.
Determine the power absorbed by the resistor
and the power factor.

Briefly describe what happen if the circuit is

replaced by diode to produce the same average
output.
 Example (Cont)
• Solution V 2 rms 75.6 2
P= = = 57.1W
R 100
In order to achieve 40V average
57.1
voltage, the delay angle must be pf =
 75.6 
= 0.63
(120) 
 100 
Vs • If an uncontrolled diode is used,
Vo = [1 + cos α ] the average voltage would be
2π
120 2 Vs 2 (120)
40 = [1 + cos α ] Vo = = = 54V
2π π π
α = 61.2o = 1.07 rad • In order to control the voltage to
40V, a series resistor could be
Vm α sin( 2α ) added to an uncontrolled rectifier.
Vo , rms = 1− +
2 π 2π This method introduces additional
120 2 1.07 sin[2(1.07)] resistive losses in the circuit.
= 1− +
2 π 2π
= 75.6V