EET413 ELECTRIC DRIVES

Sebin Davis K
Asst. Professor
Electrical Dept.
Sahrdaya College of Engineering and Technology , Kodakara
Module II
• Rectifier control of DC drives- separately excited DC motor drives using
controlled rectifiers
• Single-phase fully controlled rectifier fed drives (discontinuous and continuous
mode of operation), critical speed
• Single-phase semi converter fed drives (continuous mode of operation)
• Three-phase semi converter and fully controlled converter fed drives (continuous
mode of operation)
• Dual converter control of DC motor - circulating current mode.
 DC Drives
DC Drives employs dc machines which are

1. have better speed control.

2. have good starting torque.
3. have higher efficiencies.
4. small and less in weight.
5. cheaper in initial cost( however high on maintenance).
 DC Drives
• The commonly used dc motors are
DC Drives
DC Shunt and separately excited motor
DC Series Motor
 Types of Braking
• Brakes are used to reduce or cease the speed of
motors.
• But we can divide braking in to three parts mainly,
which are applicable for almost every type of motors.

1. Regenerative Braking
2. Plugging type braking
3. Dynamic braking.
Regenerative Braking
• This braking method is called regenerative baking
because here the motor works as generator and
supply itself is given power from the load
• The main criteria for regenerative braking is that the
Back emf should be higher than the supply voltage ,
only then the motor will act as a generator
Plugging Type Braking
• Another type of braking is Plugging type braking.
• In this method the terminals of supply are reversed,
as a result the generator torque also reverses which
resists the normal rotation of the motor and as a
result the speed decreases.
• During plugging external resistance is also introduced
into the circuit to limit the flowing current.
• The main disadvantage of this method is that here
power is wasted.
Dynamic Braking
• Another method of reversing the direction of torque
and braking the motor is dynamic braking.
• In this method of braking the motor which is at a
running condition is disconnected from the source
and connected across a resistance.
• When the motor is disconnected from the source, the
rotor keeps rotating due to inertia and it works as a
self –excited generator.
• When the motor works as a generator the flow of the
current and torque reverses.
• The single-phase or multi-phase a.c. is converted to d.c. by a
controlled rectifier or converter to give a variable d.c. source, by
varying the triggering angle of the thyristor or any other power
semiconductor device
1. Single-phase controlled rectifiers
(i) Single-phase half-wave converter drives.
(ii) Single-phase full-wave half-controlled converter drives.
(iii) Single-phase full-wave fully-controlled converter drives.
(iv) Single-phase dual converter drives.
2. Multi-phase controlled rectifiers
(i) Three-phase half-wave converter drives.
(ii) Three-phase full-wave fully-controlled converter drives.
(iii) Three-phase full-wave half-controlled converter drives.
(iv) (iv) Three-phase full-wave dual converter drives.
Single phase controlled rectifier fed separately excited DC
motor drive

• The armature voltage is controlled by a semi-converter or full-converter and

the field circuit is fed from the ac supply through a diode bridge.
• When field control is required, field is fed from a controlled rectifier,
otherwise from an uncontrolled rectifier.
• The armature circuit of the de motor is represented by its back voltage
eg, armature resistance Ra, and armature inductance La
• Average Speed is

• In single-phase converters, the armature voltage ea and current t,

change with time.
Single-Phase Half-Wave Converter Drives

• This d.c. drive is very simple, needs only one power switch and one freewheeling
diode connected across the motor terminals for the purpose of dissipation of
energy stored in the inductance of the motor
Single-Phase Half-Wave Converter Drives

• Waveforms for steady-state operation of the converter with motor load is shown
for the case α = 80°
• It is clear that during the interval ß < ωt < 2л , the armature current is zero,
hence the torque developed by the motor is zero, the speed of the motor will be
reduced.
• Since the mechanical time constant of the motor is larger than its electrical time
constant, the inertia of the motor will maintain the speed, but its value will
fluctuate resulting in poor motor performance. Therefore, this type of drive is
rarely used; it is only used for small d.c. motors below 500 W ratings.
Single-Phase Half-Wave Converter Drives
Single-Phase Half-Wave Converter Drives
• The average value of the armature voltage

• The speed of the motor can be calculated from the general equation of the speed of
d.c. motor as
Single-Phase Half-Wave Converter Drives
• The starting torque can also be calculated by setting n or ω equal zero and
calculate the torque

• And the no load speed is calculated from Eq.(13.5) by setting = 0 to give

A d.c. drive circuit consists of of a separately-excited motor with Single-Phase Half-
Wave Converter it is required to calculate the speed-torque values of the motor for
firing angles α = 0° , α = 45° and α = 90°. The supply voltage is 60V (rms) , the
motor armature resistance Ra = 0.5 Ω and the motor voltage constant KФ=1 V.s /
rad.
Single-Phase Semiconverter with Separately-Excited d.c. Motor Load

• Here a full wave rectifier bridge is supplies the field circuit, and a half-controlled
bridge supplies the armature circuit. The vast majority of shunt motors are
controlled in this manner.
Single-Phase Semiconverter with Separately-Excited d.c. Motor Load
Continuous Armature Current Operation
Single-Phase Semiconverter with Separately-Excited d.c. Motor Load
Continuous Armature Current Operation
Single-Phase Semiconverter with Separately-Excited d.c. Motor Load
Continuous Armature Current Operation

𝑉𝑚 𝑅𝑎
𝜔𝑚 = 1 + 𝑐𝑜𝑠𝛼 − 2 𝑇
𝜋𝐾 𝐾
• A 220V, 960 rpm, 12.8 A separately excited DC motor has an armature
resistance and inductance of 2Ω and 150mH respectively. It is fed
from a Single Phase half controlled rectifier with an ac source voltage
of 230V, 50 Hz. Assuming continuous conduction, calculate motor
torque for α = 60° and speed = 600 rpm ?
• At rated operation
E=220-12.8X2 = 194.4
𝐸
𝑘= = 1.9337
𝜔𝑚
• Assuming Continues mode of conduction

230√2
• 𝑉𝑎 = = (1+cos 60) = 155.3
𝜋
• At 600 rpm
600
E= × 194.4 = 121.5V
960
𝑉𝑎 −𝐸
𝑇 = 𝐾𝐼𝑎 = 𝐾 = 32.68 N-m
𝑅𝑎
 Single-Phase Full-Wave Fully-Controlled Rectifier Drives

• The converter has four thyristors that need alternate switching of the pairs of these thyristors T1 ,T2 or T3, T4
The converter provides + Va or – Va depending on the value of the triggering angle a of the thyristors, thus
two quadrant operation is possible.
• Armature current remains unidirectional due to the converter configuration. The vast majority of shunt
motors are also controlled in this manner
Single-phase full-converter operation with continuous motor
current
Single-phase full-converter operation with continuous motor
current

• In any case it is obvious that the thyristor only conducts when supply voltage
exceeds the back emf
• When thyristors T1and T2 triggered at ωt = α , T3 and T4 must be turned off.
• When thyristors T3 and T4 are triggered at ωt = α + p negative voltage is
applied across T1 and T2 causes them to commutate naturally.
• A separately-excited d.c. motor has the following parameters:
• Ra = 0.25 Ω , Ke = 0.62 V/ [Link] , Ф (flux per pole) = 175 mWb.
• The motor speed is controlled by a single-phase, full-wave bridge rectifier. The
firing angle a is set at 45°, and the average speed is 1300 rpm. The applied a.c.
voltage to the bridge is 230 V at 50Hz. Assuming the motor current is continuous;
calculate the armature current drawn by the motor and the steady-state torque if,
Fully-controlled bridge drive is used.
A single-phase full converter is used to control the speed of small separately-
excited d.c. motor rated at 7.5 kW, 230 V, 1500 rpm. The converter is connected to a
single-phase 230 V, 50 Hz supply. The armature resistance is Ra = 0.50 Ω and the
armature circuit inductance is La = 10 mH. The motor voltage constant is Ke Ф =
0.07 V/rpm. With the converter operates as a rectifier, the d.c. motor runs at 1200
rpm and carries an armature current of 35 A. Assume that the motor current is
continuous, determine
(a) The firing angle .
(b) The power delivered to the motor.
(c) The power factor of the supply.
Single-phase full-converter operation with
Discontinuous Conduction
• In discontinuous conduction mode of Single Phase Fully Controlled
Rectifier Control of DC Motor, current starts flowing with the turn-on
of thyristors T1 and T3 at ωt = α
• The current, which flows against both, E and the source voltage after
ωt = π, falls to zero at β
• Due to the absence of current T1 and T3 turn-off. Motor terminal
voltage is now equal to its induced voltage E.
• When thyristors T2 and T4 are fired at (π + α), next cycle of the motor
terminal voltage va starts.
Single-phase full-converter operation with
Discontinuous Conduction
Single-phase full-converter operation with
Discontinuous Conduction
• Duty interval (α ≤ ωt ≤ β) when motor is connected to the source and
va = vs.
• Zero current interval (β ≤ ωt ≤ π + α) when ia = 0 and va = E.
Single-phase full-converter operation with
Discontinuous Conduction
• Drive operation is described by the following equations:

• Solution of Eq.
Single-phase full-converter operation with
Discontinuous Conduction
• Since ia(β) = 0

• Boundary between continuous and discontinuous conduction is reached when β =

π+α
• Substituting β = π + α in Eq. gives the critical value of speed ωmc which separates
continuous conduction from discontinuous conduction for a given α as
Three phase Half controlled rectifier

• Convenient references for the thyristor firing angles are ωt1, ωt2, ωt3 …
spaced 120° apart.
• Let the firing angle be α. The three thyristors fire in sequence with a
time spacing of 120° as shown in the figure.
Three phase Half controlled rectifier

• For a firing angle α = 60°, only one diode

conducts during the conduction period of a
thyristor.
• The conduction sequence is now Th1D3,
Th2D1, Th3D2.
• For larger values of α, VAC becomes
negative before Th2 fires resulting in
interruption of line current so that ia flows
through DFW, the free-wheeling diode.
Three phase Half controlled rectifier
• For the case of continuous armature current:
Three phase Fully Controlled Rectifier Control of DC
Separately Excited Motor:

• Thyristors are fired in the sequence of their numbers with a phase difference of
60° by gate pulses of 120°duration.
• Each thyristor conducts for 120, and two thyristors conduct at a time—one from
upper group (odd numbered thyristors) and the other from lower group (even
numbered thyristors) applying respective line voltage to the motor.
Three phase Fully Controlled Rectifier Control of DC
Separately Excited Motor:
OUTPUT VOLTAGE
Dual Converter
• The dual converter consists of two AC-to-DC converters connected in anti-parallel
• [Link] converter 1 operates, and it gives a positive output dc voltage (+ V dc )
.However if converter2 operates it gives negative dc voltage –V dc . It is important
to be noted that, the two converters must not operate simultaneously to avoid short
- circuiting of the two converters.
• The dual converter provides the facility of operation in four quadrants If the load
is a dc motor, the motor can runs in four modes of operation as
Modes of Operation of Dual Converter

• Non Circulating Current Mode

• One converter will perform at a time. So there is no circulating current
between the converters.
• During the converter 1 operation, firing angle (α1) will be 0<α1< 90o;
Vdc and Idc are positive.
• During the converter 2 operation, firing angle (α2) will be 0<α2< 90o;
Vdc and Idc are negative.
Modes of Operation of Dual Converter

• Circulating Current Mode

• Two converters will be in the ON condition at the same time. So
circulating current is present.
• The firing angles are adjusted such that firing angle of converter 1 (α1)
+ firing angle of converter 2 (α2) = 180o.
• Converter 1 performs as a controlled rectifier when firing angle be
0<α1< 90o and Converter 2 performs as an inverter when the firing
angle be 90o<α2< 180o. In this condition, Vdc and Idc are positive.
• Converter 1 performs as an inverter when firing angle be 90o<α1<
180o and Converter 2 performs as a controlled rectifier when the firing
angle be 0<α2< 90o In this condition, Vdc and Idc are negative.
Operation of Dual Converter
• Average output voltage of Single-phase converter =

• Average output voltage of Three-phase converter =

• For converter 1, the average output voltage,

• For converter 2, the average output voltage,

Operation of Dual Converter
• Output voltage,

The firing angle can never be greater than 180°. So,

 Types of Dual Converters

• Single Phase Dual Converter

• Three Phase Dual Converter