BEKE 4753 Electrical Drives
DC MOTOR DRIVES
(Switched Mode Converter)
(Module 4)
CONVENTIONAL DC MOTOR CONTROL
A SWITCHING CONVERTER
t on
D
T
2
CONVENTIONAL DC MOTOR CONTROL
Basic DC-DC Converters
3
CONVENTIONAL DC MOTOR CONTROL
Controlling Va using a DC-DC converter
Un-controlled DC-DC converter
Rectifier
+ +
3-phase
VDC Va
supply
− −
3Vll
VDC
π
D
Va is changed by varying the duty cycle,D
4
Switched–mode DC Motor Drives
• Supply is DC (maybe from rectified-filtered AC, or
some other DC sources).
• DC-DC converters (or choppers) are used.
• Normally operate at high frequency.
– The average output voltage response is
significantly faster.
– the armature current ripple is relatively less
than the controlled rectifier.
• In terms of quadrant of operations, 3 possible
configurations are possible:
– single quadrant,
– two–quadrant
– four–quadrant
5
6
Switched–mode Converters (Single-quadrant)
T1
For 0 < t < T
+ +
Va Armature voltage at steady state:
VDC D1 t
1 on t
- - Va VDC .dt on VDC DVDC
T 0 T
Where duty cycle, t on
D
T
T1 on T1 off
VDC Armature (DC) current:
Va E g
Ia
Ra
Speed can be approximated as:
Va I a R a
Kv I f 7
QUADRANT OF OPERATION
Switched–mode Converters (Single-quadrant)
T1
Q2 Q1
+ +
VDC D1 Va Q3 Q4 T
-
-
Quadrant 1: Forward motoring mode
Switching between T1 and D1.
T1 on: Supply is connected to motor
Va D1 ON T1 ON terminal.
𝑣𝑎
T1 off: Armature current freewheels
VDC
through D1.
𝑖𝑎 ON duration of T1 is longer than D1.
Average armature voltage is higher
than the back-emf, hence produces
t
positive current.
0 Motor speed increases as positive
torque is applied, due to positive
armature current and voltage. 8
QUADRANT OF OPERATION
Switched–mode Converters (Two-quadrant)
+
T1 Q2 Q1
D1
Q3 Q4 T
VDC
+
T2 Va
D2- Q1 T1 and D2
- Q2 D1 and T2
9
QUADRANT OF OPERATION
Switched–mode Converters (Two-quadrant)
+ Va
D2 ON T1 ON
𝑣𝑎
VDC
T1
D1 𝑖𝑎
VDC
+ t
T2 0
Va
D2
-
-
Quadrant 1: Forward motoring mode
Switching between T1 and D2,other switches are OFF.
T1 on: The supply is connected to motor terminal.
T1 off: The armature current freewheels through D2.
ON duration of T1 is longer than D2.
Average armature voltage is higher than the back-emf,
hence produces positive current. 10
QUADRANT OF OPERATION
Switched–mode Converters (Two-quadrant)
+
Va
D1 ON T2 ON
T1 VDC
𝑣𝑎
D1
VDC
+
t
T2 0
Va 𝑖𝑎
D2
-
- Quadrant 2: Forward regenerative braking mode
Switching between D1 and T2. Other switches are OFF.
T2 on: Va = 0 and motor act as a generator.
T2 off: motor, acting as a generator, returns energy to the
supply through D1.
ON duration of D1 is shorter than T2.
Average armature voltage is lesser than the back-emf, hence
produces negative current.
Motor speed decreases as the negative torque is applied, due 11
to negative armature current.
QUADRANT OF OPERATION
Switched–mode Converters (Four-quadrant)
+
D1 D3
T1 T3
+ Va -
Q2 Q1
VDC Q3 Q4 T
T4 D2 T2
D4
-
Q1 T1,T2 and T2,D4
Q2 D1,D2 and T4,D2
Q3 T3,T4 and T4,D2
Q4 D3,D4 and T2,D4
12
QUADRANT OF OPERATION
Switched–mode Converters (Four-quadrant)
Va T2&D4 ON T1&T2 ON
+ D1 D3 𝑣𝑎
T1 + Va - T3 VDC
𝑖𝑎
VDC
T4 D2 T2
D4 t
- 0
Quadrant 1: Forward motoring mode
T1 and T2 operate; T3 and T4 off.
Pair of switching between T1&T2
T1 and T2 turn on together: The
and T2&D4, other switches are OFF.
supply voltage appear across the
ON durations of T1&T2 are longer
motor terminal. Armature current
than T2&D4.
rises.
Average armature voltage is higher
T1 turned off and T2 still turn on:
than the back-emf, hence produces
The armature current decay
positive current.
through T2 and D4.
Motor speed increases as the
positive torque is applied, due to
positive armature current. 13
QUADRANT OF OPERATION
Switched–mode Converters (Four-quadrant)
Va D1&D2 ON T4&D2 ON
+ D1 D3
T1 + Va - T3
VDC
T4 D2 T2
D4 0
t
-
Quadrant 2: Forward regenerative braking
T1, T2 and T3 turned off.
mode
When T4 is turned on, the Switching between D1&D2 and T4&D2.
armature current rises through
Other switches are OFF.
T4 and D2. ON durations of D1&D2 are shorter than
When T4 is turned off, the
T4&D2.
motor, acting as a generator,
Average armature voltage is lesser
returns energy to the supply
than the back-emf, hence produces
through D1 and D2.
negative current.
Motor speed decreases as the negative
torque is applied, due to negative
armature current. 14
QUADRANT OF OPERATION
Switched–mode Converters (Four-quadrant)
Va
T4&D2 ON T3&T4 ON
+ D1
T1 D3 0 𝑣𝑎
+ Va - T3 t
VDC 𝑖𝑎
T4 D2 T2
D4
- −VDC
Quadrant 3: Reverse motoring mode
T3 and T4 operate; T1 and Pair of switching b/w T3&T4 and T4&D2.
T2 off. ON durations of T3&T4 are longer than
When T3 and T4 are on T4&D2.
together, the armature Armature voltage and back-emf are
current rises and flows in negative. The absolute value of average
reverse direction. Hence the armature voltage is larger than the
motor rotates in reverse absolute value of back-emf, hence
direction. produces negative current.
When T3 is turned off and Motor speed increases in reversed
T4 turn on, the armature direction as the negative torque is
current decays through T4 applied, due to negative armature
and D2. 15
current.
QUADRANT OF OPERATION
Switched–mode Converters (Four-quadrant)
Va
+ D1 D3
T1 + Va - T3
0
t
VDC
T4 D2 T2
D4
-
D3&D4 ON T2&D4 ON
Quadrant 4: Reverse regenerative braking mode
T1, T3 and T4 are off.
Pair of switching between D3&D4 and T2&D4.
When T2 is on, the armature
ON durations of D3&D4 are shorter than
current rises through T2 and
T2&D4.
D4.
Absolute value of negative armature voltage
When T2 is turned off, the
is lesser than the absolute value of
armature current falls and
negative back-emf, hence produces positive
the motor returns energy to
current.
the supply through D3 and
Motor speed decreases in reversed direction
D4.
as the positive torque is applied, due to
positive armature current.
16
Example 1:
A 220 V, 1500 rpm, 200 A separately excited DC motor has an
armature resistance of 0.05 Ω and is fed from a 220 V supply. The
motor is chopper controlled which provides both motoring and braking
operation. Assuming continuous conduction,
a) determine the duty ratio of the chopper for operation at rated
torque and at 500 rpm.
b) calculate the duty ratio of the chopper for braking operation at rated
torque and at 500 rpm
c) if the maximum duty ratio of the chopper is limited to 0.95 and the
maximum permissible motor current is double the rated current,
determine the maximum permissible motor speed obtainable
without weakening the field and power to the source.
17
Example 2:
A separately excited DC motor is powered by a dc-dc converter from a
600 V dc source. The armature resistance is 0.05 Ω. The back emf
constant of the motor is 1.527 V/A rad/s. The average armature current
is 250 A and the field current is 2.5 A. The armature current is
continuous with negligible ripple. If the duty cycle of the converter is
60%, determine ,
a) the input power from the source.
b) the equivalent input resistance of the dc-dc converter drive.
c) the motor speed
d) the developed torque
18
Switched–mode Converters(Regenerative Braking)
19
• The average voltage across the dc-dc converter:
Vch (1 k )Vs
• The regenerated power:
Pg I aVch I aVs (1 k )
• The voltage generated by the motor acting as generator is:
Eg K v I f
Vch Rm I a Vs (1 k ) Rm I a
where Rm is total armature circuit resistance.
For separately excited dc motor, Rm Ra
For series dc motor, R R R
m a f
20
• Therefore, the equivalent load resistance of the motor acting as a
generator is:
Eg Vs
Req (1 k ) Rm
Ia Ia
• Thus, by varying the duty cycle, k the equivalent load resistance Req
can be controlled from Ra to Vs/Ia + Rm and the regenerative power
can be controlled.
21
• The permissible potential of armature circuit voltage are
0 ( E g Rm I a ) V s
which gives minimum braking speed of the motor as
E g Rm I a 0
E g K v I f min Rm I a
Rm I a
min
Kv I f
• The maximum braking speed of the motor can be found as
K v I f max Rm I a Vs
Vs R I
max m a
Kv I f Kv I f
and
min max
22
Example 3:
A dc-dc converter is used in regenerative braking of a separately
excited dc motor. The dc supply voltage is 600 V. The armature
resistance Ra = 0.02 Ω. The back emf contant Kv = 1.527 V/A rad/s.
The average armature current is maintained constant at Ia = 250 A and
the field current If = 2.5 A. The armature current is continuous and has
negligible ripple. If the duty cycle of the dc-dc converter is 60%,
determine,
a. the average voltage across the dc-dc converter Vch
b. the power generated to the dc supply Pg
c. the equivalent load resistance of the motor acting as a generator
Req
d. the minimum permissible breaking speed ωmin
e. the maximum permissible breaking speed ωmax
f. the motor speed 23