BEKE 4753 Electrical Drives

DC MOTOR DRIVES
(AC-DC Controlled Rectifier)
(Module 3)
 DC Motor/machine Drives
 The steady-state speed of DC Motor/machine is determined by the
applied voltage, Va so that the motor run at any desired speed in
either direction simply by applying the appropriate magnitude and
polarity of the armature voltage.
 The torque of DC DC Motor/machine is directly proportional to the
armature current, which in turn depends on the difference between
the applied voltage Va and the back emf Ea.
 The DC machine develop positive (motoring) or negative
(generating) torque simply by controlling the extent to which the
applied voltage Va is greater or less than the back emf Ea.
 An armature voltage controlled DC machine is therefore inherently
capable of what is known as four-quadrant operation.

2
4-Quadrant Operation of DC Motor/machine

Q2 Q1

Q3 Q4
3
 4-Quadrant operation of DC Motor/machine
Quadrant 1 (Forward Motoring)
 The machine is operating as a motor and running in the forward
direction. The applied voltage Va is positive and Va > Ea, and positive
current therefore flows into the motor.
 The power drawn from the supply (Va I) is positive.
 The power converted to mechanical form is given by EaI, and an
amount I2R is lost as heat in the armature.
 If back emf Ea is much greater than IR (which is true in all but small
motors), most of the input power is converted to mechanical power,
i.e. the conversion process is efficient.

Q1
4
 4-Quadrant operation of DC Motor/machine
Quadrant 2 (Forward Braking)
 If, with the motor running at Q1, we suddenly reduce the supply
voltage such that Va < Ea, the current (and hence torque) will reverse
direction, shifting the operating point to Q2.
 Now, the power is supplied from the machine to the supply, i.e. the
machine is acting as a generator.
 The motor will not remain at Q2 if left to its own devices. The
combined effect of the load torque and the negative machine torque
will cause the speed to fall, so that Ea again falls below Va, the
current and torque become positive again, and the motor settles
back into Q1, at a lower speed corresponding to the new (lower)
supply voltage.

Q2
5
 4-Quadrant operation of DC Motor/machine
Quadrant 2 (Q2) Cont.
 During the deceleration phase, kinetic energy from the motor and
load inertias is returned to the supply. This is therefore an example
of regenerative braking, and it occurs naturally every time we
reduce the voltage in order to lower the speed.
 If we want to operate continuously at Q2, the machine will have to
be driven by a mechanical source.
 We must force the motor to run faster, and create an Ea greater
than Va, if we wish it to generate continuously.

6
 4-Quadrant operation of DC Motor/machine
Quadrant 3 & 4 (Reverse Motoring & Braking)
 Similar arguments to those set out for operation at Q1 and Q2 are
applied when the motor is running in reverse (i.e. Va is negative).
 Reverse Motoring then takes place in Quadrant 3 with brief
excursions into Quadrant 4 (accompanied by regenerative
braking), whenever the voltage is reduced in order to lower the
speed.

Q3 Q4

7
 BEKE 4753
ELECTRICAL DRIVE

DC Motor Drives
AC-DC Controlled Rectifier
(MODULE 3)

8
Phase-controlled rectifier (AC–DC)
Uncontrollab
le
HALF-WAVE
Controllable

Uncontrollab
RECTIFIER
le
Single Phase
Controllable
FULL-WAVE
Uncontrollab
le
Three Phase
Controllable

9
Phase-controlled rectifier (AC–DC)

Full-wave Bridge Rectifier (Uncontrolled)

100 Vo
50 Vm

Voltage (V)
0

-50

-100

0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08

Time (s)

T
1
T
1
VO ,ave  VO , DC   Vdt
T 0
VO ,rms  
T 0
V 2 dt

 
1 1
  Vm sin t d t  2
t d t 
 0
2
 V sin
 0 m

2Vm Vm
 
 2 10
Phase-controlled rectifier (AC–DC)

Full-wave Bridge Rectifier (Controlled)

T
1 1
T
VO ,ave  VO , DC   Vdt
T
VO ,rms 
T V 2 dt

1
Vm sin t d t  

 
 1
Vm sin 2 t d t 
2


Vm
 cos   1 1  sin 2 
  Vm  
2 2 4
11
Phase-controlled rectifier (AC–DC)
Three-phase Rectifier (uncontrolled)
The diode conducts in pairs (6,1), (1,2),
(2,3), (3,4), (4,5), (5,6), (6,1)..
The output are determined by the
highest VL-L .
There are six combinations of VL-L.
Considering one period of the source is
3600, a transition of the highest VL-L must
take place every 3600/ 6 = 600.

12
Three-phase Rectifier (uncontrolled)
Phase voltages vab Line voltages

vab  3Vm sin t  30O 

van  Vm sin t 
vbc  3Vm sin t  90O 
vbn  Vm sin t  120 O

vca  3Vm sin t  210O 
vcn  Vm sin t  240 O

T
1 A
Average output voltage Vo,ave  Vo,dc   v(t )dt 
T0 T

3
1 3 3
  3Vm sin t  30O d t   Vm
A  
3 0

T
1
Vo,rms 
T0 v(t ) 2 dt
π/6 π/2

1 3
3Vm cos 2 t d t   1.6554Vm
2

 0  13
3
Phase-controlled rectifier (AC–DC)
Three-phase Rectifier (Controlled)
Conduction does not begin until a
gate signal is applied.
Thus, the transition of the output
voltage to the maximum
instantaneous line-to-line source
voltage can be delayed.
The average output voltage is:
1 23   3Vm,LL 
 / 3 3 
Vo   Vm, L  L sin(t ) d (t )    cos 
  
1 23   3V 
Vo   Vm,LL sin(t )d (t)   m,LL  cos
 / 3 3    

14
 AC-DC Controlled Rectifier
2Vm


+
2Vm
Vo  cos  
50Hz Vo  90o 180o
1-phase
 2Vm



3VL  L ,m

50Hz
+
3-phase
3VL  L ,m
Vo Vo  cos  
 90o 180o


3VL  L,m



For steady state continuous current flow

15
 AC-DC Controlled Rectifier
Output voltage and current (Power Capability)
400

200

+ 2Vm -200
Vo  cos 

-400
0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44

50Hz Vo 10

1-phase Average voltage

over 10ms
5

 0
0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44

500

0
3VL  L , m
50Hz Vo  cos 
+  -500
3-phase 0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44

Average voltage
Vo over 3.33 ms
30

20
 Higher output

voltage 10

& current 0
 minimize voltage & 0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44

current ripples

16
 ia
AC-DC Controlled Rectifier

Single Converter – 2Q operation

ia

+

1/3-phase Q1
supply Vt Q2

Q3 Q4 T


 ia can only flow in one direction only due to unidirectional current

property of thyristors.
 However, if the rectifier is fully controlled, it can be operated to
become negative DC voltage, by making firing angle greater than 90⁰.
 (0⁰ < α < 90⁰) :Vt > 0 (+ve) and ia > 0 (Q1)
 (90⁰ < α < 180⁰) : Vt < 0 (-ve) and ia > 0 (Q4) 17
 AC-DC Controlled Rectifier

Dual Converter – 4Q operation

+
1/3 phase 1/3-phase
supply Vt supply

(i) Non-simultaneous operation 

(ii) Simultaneous operation
Q2 Q1

Q3 Q4
T

18
Non-simultaneous Operation
• Operating each converter one at a time
• When operation from Q1 to Q2 is required (i.e. from forward
motoring to forward braking), the operation of the converter has to
be switched from converter 1 to converter 2.
• Before the switching can be made, the armature current has to be
forced to zero by increasing the delay angle of converter 1 to the
highest possible value.
• When the current goes to zero, a certain dead time is needed before
converter 2 is operated to ensure that the SCRs for converter 1
recover the reverse blocking capability.
• After this deadtime, rectifier 2 is activated. The initial delay angle of
converter 2 is set to the highest value and gradually reduced
(advance firing scheme) so that armature current builds up.
• The current is regulated to the allowable maximum value through
current control loop.
• The motor decelerates and accelerates in reverse direction with
converter 2 in operation.
19
Simultaneous operation
• Both converters are operated simultaneously such as they produced
the same average voltage.
• For instance, if converter 1 operates with α1, then the delay angle of
converter 2 should be (180°- α1).
• This control scheme produces circulating current since the
instantaneous voltages of the two converters are not the same. To
reduce the circulating current an interphase reactor is needed which
will inevitably introduce losses, cost and weight. As both converters
are always in operation, there is no deadtime delay (as discussed in
(i)) involved.

+
1/3 1/3-phase
phase Vt supply
supply


20
 AC-DC Controlled rectifier

Single Converter – 4Q operation

F1 R1

3-phase
supply
+ Va -
R2 F2

Contactor/switches 
(i) F1 and F2  quadrants 1 and 4 Q1
(ii) R1 and R2  quadrants 2 and 3 Q2

Q3 Q4
T

21
 AC-DC Controlled Rectifier
Controlling Vt and if using Controlled Rectifier

Controlled Rectifier Controlled Rectifier

if

+
3-phase +
Vt Vf
supply
−
−

Vt  E g
Ia 
αt Ra αf
3Vll 3Vll
Vt  cosαt Vf  cosαf
π π
Current if is changed by changing Vf

Phase controlled rectifier – small bandwidth – large ripple

22
 AC-DC Controlled Rectifier
Controlling Vt using Controlled Rectifier
Controlling if using variable resistance

Controlled Rectifier Un-controlled Rectifier

if
Rf
+
3-phase +
supply Vt Vf
−
−

Vt  E g
Ia  3Vll
αt Ra Vf 
π
3Vll
Vt  cosαt Current if is changed by
π changing Rf

23
 Phase-controlled Rectifiers DC
Motor Drives
• By changing the firing angle, α of the rectifier, a variable
DC output voltage can be obtained.
• Mains operated, single phase (low power) and three
phase (high and very high power) supply can be used.
• Normally field rectifier have much lower ratings than the
armature rectifier. It is only used to establish the flux.
• Phase-controlled rectifier DC Motor drives has a small
control bandwidth hence slow response compared to
switched mode DC Motor drives.

24
 Phase-controlled Rectifiers DC Motor Drives

3Vll
Vt  cosαt Vt  E g
π Ia 
Ra
αt

αf

Vm
Vf  cos  f  1


25
Continuous/Discontinuous current operation
• The key reason for successful DC drive operation is due to the large
armature inductance La.
• Large La allows for almost constant armature current (with small
ripple) due to “current filtering effect of L”.
• With large La, average value of the ripple current is zero. No
significant effect on the torque.
• If La is not large enough, or when the motor is lightly loaded, or if
supply is single phase (half wave), discontinuous current may occur.
• Effect of discontinuous current: Output voltage of rectifier rises;
motor speed goes higher. In open loop operation the speed is poorly
regulated.
• Therefore, it is worthwhile to add extra inductance in series with the
armature inductance.
26
 Three-Phase Controlled Rectifiers

Problem 1:
The speed of a 20 HP, 300 V, 1800 rpm separately excited DC
motor is controlled by a three-phase single converter drive. The
field current is also controlled by a three-phase single
converter and is set to the maximum possible value. The AC
input is a three-phase, Y-connected, 208 V, 60 Hz supply.
The armature resistance is Ra = 0.25 Ω, the field resistance is Rf =
245 Ω, and the motor voltage constant is Kv = 1.2 V/A rad/s. The
armature and field currents can be assumed to be continuous
and ripple free. The viscous friction is negligible.

Determine;
(a) the delay angle of the armature converter α1, if the motor
supplies at the rated power at the rated speed.
(b) the no-load speed if the delay angles are the same as in (a) and
the armature current at no load is 10% of the rated value, and
(c) the speed regulation.

27
 Three-Phase Controlled Rectifiers

300 V, 900 rpm separately excited DC motor is

phase single converter drive. The field current is
hree-phase single converter. The AC input to the
nverters is three-phase, Y-connected, 208 V, 60 Hz.
ce is Ra = 0.25 Ω, the field circuit resistance is Rf =
voltage constant is Kv = 1.2 V/A rad/s. The viscous
osses can be considered negligible. The armature
and field currents are continuous and ripple free.

s operated at the maximum field current and the

d = 116 Nm at 900 rpm, determine the delay angle
rter α1.
nverter is set for the maximum field current, the
Td = 116 Nm and the delay angle of the armature
ermine the speed of the motor.
mand as in (b), determine the delay angle of the
peed has to be increased to 1800 rpm.
28
 Three-Phase Controlled Rectifiers

Problem 3:
The DC motor in Fig. 2.1 has an armature voltage of 450 V while drawing
current of 1500 A. Converter 1 delivers a current I 1 of 1800 A, and
converter 2 absorbs 300 A. If the AC line voltage for each converter is
360 V, calculate the following:

(a) The DC power associated with converters 1 and 2.

(b) The active power drawn from the incoming 3-phase line.
(c) The firing angles for converters 1 and 2.
(d) The reactive power drawn from the incoming 3-phase line.
Dual-Converter
Rectifying mode Inverting mode
I1 I2
α1 + Ia =I1-I2
3-phase 3-phase
supply Vt supply

 α2

0<α1 ≤ π/2 α2 = π-α1 π/2 <α1 ≤ π

29
Problem 4:
A 3-phase circulating current dual converter drive is feeding power
to a 220 V, 20 A, 1500 rpm separately excited DC motor. The ac
input to the converter is 415 V, 3-phase, 50 Hz, Y-connected
supply system, connected through a transformer so that the
armature terminal voltage equal to the rated voltage when
converter firing angle is 0°. The resistances of the armature
winding is 0.5 Ω.

Determine the converter firing angles for the following operation

conditions:
i. Motoring operation at rated torque and at 1000 rpm
ii. Braking operation at rated motor torque and at 1000 rpm
iii. Motoring operation at rated motor torque and at (-1000)
rpm
iv. Braking operation at rated motor torque and at (-1000)
rpm

30
Problem 5:
A 210 V, 1200 rpm, 10 A separately excited motor is controlled by
1-phase fully controlled converter with an ac source voltage of 230
V, 50 Hz. Assume that sufficient inductance is present in the
armature circuit to make to motor current continuous and ripple free
for any torque greater than 25% of rated torque, and Ra = 1.5 Ω.

i. What should be the value of the firing angle to get the rated
torque at 800 rpm ?
ii. Compute the firing angle for the rated braking torque at (-1200)
rpm
iii. Calculate the motor speed at the rated torque and α = 165° for
the regenerative braking in the second quadrant (Q2)?

31
Modeling of Converters and DC motor

Phase-controlled rectifier (continuous current)

• Firing circuit –firing angle control
 Establish relation between vc and Vt

+
iref + current vc firing  controlled
- controller circuit rectifier Vt

32
 AC-DC Controlled rectifier

+
vc firing  controlled
circuit rectifier Va

?
vc(s) va(s)
DC motor

The relation between vc and va is determined by the firing circuit

It is desirable to have a linear relation between vc and va

33
 AC-DC controlled rectifier
linear firing angle control

Vm
Input voltage
0  2 3 4

vc vt
Sawtooth compared with control signal

Results of comparison to trigger SCRs

Output voltage

34
 AC-DC Controlled rectifier
linear firing angle control
vt vc

Vm  
 3 4
0 2
vc
 
vt
vc vt
vc
 

2Vm v 
Va  cos c  

  vt 

A non-linear relation between Va and vc

35
 AC-DC controlled rectifier
Cosine-wave crossing control

Vm
Input voltage
0  2 3 4

vc vs
Cosine wave compared with vc

Results of comparison trigger SCRs

Output voltage

36
 AC-DC controlled rectifier
Cosine-wave crossing control
cos(t)= vc
Vscos()
Vm
v 
0  2 3 4   cos 1  c 
 vs 

vc vs


2Vm v c  1  v c  
Va  coscos
   
 vs   vs 


A linear relation between vc and Va

37
 AC-DC controlled rectifier

e.g. cosine wave crossing control

38
 AC-DC controlled rectifier
Control model

Va is the average voltage over one period of the waveform

- sampled data system

Delays depending on when the control signal changes – normally taken

as half of sampling period

39
 AC-DC controlled rectifier
Control model

Va is the average voltage over one period of the waveform

- sampled data system

Delays depending on when the control signal changes – normally taken

as half of sampling period

40
 AC-DC controlled rectifier
Control model

T
 s
G H (s)  Ke 2

Single phase, 50Hz

vc(s) Va(s)
2Vm
K T=10ms
Vs

Three phase, 50Hz

3VL L ,m
K T=3.33ms
Vs

Simplified if control bandwidth is reduced to much lower than the

sampling frequency

41
 AC-DC controlled rectifier

MATLAB v7.1, SIMULINK v7.5

SympPowerSystems toolbox
SIMULINK EXAMPLES
Open-loop control

Closed-loop control

42
 AC-DC controlled rectifier
Open loop

+
vc firing  controlled
circuit rectifier Va

–
DC motor
modeled with
R-L and Vdc
Step

+
v
-
Voltage Measurement1
Scope2

signal
i
+ Controlled Voltage Source
-
Scope

+
Current Measurement1

-
A
+
B

C
-
pulses
Series RLC Branch
+ Universal Bridge
v
-
Scope1

+
v
- alpha_deg
AB
i
BC pulses +
-
+
CA
v Current Measurement
-
Block

Synchronized
6-Pulse Generator

acos -K-

Step1 T rigonometric Gain

Function

43
 Three-phase AC source Step

+
v
-
Voltage Measurement1
Scope2

signal
i
+ Controlled Voltage Source
-
Scope

+
Current Measurement1

-
A
+
B

C
-
pulses
Series RLC Branch
+ Universal Bridge
v
-
Scope1

+
v
- alpha_deg
AB
i
BC pulses +

Load
-
+
CA
v Current Measurement
-
Block

Synchronized
6-Pulse Generator

acos -K-

Step1 T rigonometric Gain

Function
Controlled rectifier

‘Firing circuit’
scr_openloop_3phase.mdl 44
 AC-DC controlled rectifier
Closed loop

+
iref current vc firing  controlled
controller Va
circuit rectifier
–

Step

+
v
+ -
v
-

• To control the current – current-controlled converter Scope2

• Torque can be controlled

signal
i
+
-
Scope

-
• Only operates in Q1 and Q4 (single converter topology)
A
+
B

C
-
pulses
Series RLC Branch
+ Universal Bridge
v
-

+
v
- alpha_deg
AB
i
BC pulses +
-
+
CA
v
-
Block

Synchronized
6-Pulse Generator
PID acos -K-

Signal PID Controller1

Generator

Constant1

45
 Open-loop system from previous simulation
Step

+
v
+ -
v
-

Scope2

signal
i
+
-
Scope

-
A
+
B

C
-
pulses
Series RLC Branch
+ Universal Bridge
v
-

+
v
- alpha_deg
AB
i
BC pulses +
-
+
CA
v
-
Block

Synchronized
6-Pulse Generator
PID acos -K-

Signal PID Controller1

Generator

Constant1

Closed-loop elements

scr_closedloop_3phase.mdl
46