4 Controlled Rectifier DC Drives

Controlled Rectifier DC Drives
By
Dr. Ungku Anisa Ungku Amirulddin
Department of Electrical Power Engineering
College of Engineering
Dr. Ungku Anisa, July 2008 1 EEEB443 - Control & Drives
Outline
Power Electronics Converters for DC Drives
Controlled Rectifier Fed DC Drives
Single Phase
Two-quadrant
Four-quadrant
Three Phase
Two-quadrant
Four-quadrant
References

Dr. Ungku Anisa, July 2008 EEEB443 - Control & Drives 2
Power Electronic Converters
for DC Drives
Speed Control Strategy:
below base speed: V
a
control
above base speed: flux control via V
f
control
Power electronics converters are used to obtain variable
voltage
Highly efficient
Ideally lossless
Type of converter used is depending on voltage source :
AC voltage source Controlled Rectifiers
Fixed DC voltage source DC-DC converters
Controlled Rectifier Fed DC Drives
To obtain variable DC voltage from fixed AC source
DC current flows in only 1 direction
Example of a drive system
Controlled Rectifier Fed
Single-phase DC Drives
Two-quadrant drive
Limited to applications up to 15 kW
Regeneration (Q4) only be achieved with loads that can drive
the motor in reverse (-ve e)
T
Q1 Q2
Q3 Q4
e
Two-quadrant drive
For continuous current:
Armature voltage

where V
m
= peak voltage
Armature current

Field voltage

a
m
a
V
V o
t
cos
2
=
f
m
f
V
V o
t
cos
2
=
a
a a
a
R
E V
I

=
90
o
180
o

t
m
V 2
t
m
V 2
o
Single-
phase
supply
+

V
a

i
a

Two-quadrant drive
For Quadrant 1 operation:
e positive E
a
and V
a
positive
o
a
s 90
I
a
positive
Rectifier delivers power to motor,
i.e. forward motoring.

a
m
a
V
V o
t
cos
2
=
90
o
180
o

t
m
V 2
t
m
V 2
o
Single-
phase
supply
+

V
a

i
a

+

E
a

e
Q1
Two-quadrant drive
For Quadrant 4 operation:
e negative E
a
negative
o
a
> 90 V
a
negative
I
a
positive (still in same direction)
Rectifier takes power from motor,
i.e. regenerative braking.

a
m
a
V
V o
t
cos
2
=
90
o
180
o

t
m
V 2
t
m
V 2
o
Single-
phase
supply

V
a

+
i
a

E
a

+
e
Q4
Four-quadrant drive
Converter 1 for operation in 1
st
and 4
th
quadrant
nd
and 3
rd
quadrant
T
Q1 Q2
Q3 Q4
e
Converter 1 Converter 2
Single-
phase
supply
Single-
phase
supply
+

V
a

i
a

Two rectifiers
connected in anti-
parallel across
motor armature
Four-quadrant drive
Both converters are operated to produce the same dc voltage across the
terminal, i.e.:

where and

(V
m
= peak supply voltage)
Hence, firing angles of both converters must satisfy the following:

Armature current

Field voltage
1 1
cos
2
a
m
V
V o
t
=
f
m
f
V
V o
t
cos
2
=
a
a a
a
R
E V
I

=
t o o = +
2 1 a a
0
2 1
= +V V
2 2
cos
2
a
m
V
V o
t
=
+

V
1


V
2

+
Three-phase DC Drives
Two-quadrant drive
Regeneration (Q4) only be achieved with loads that can
drive the motor in reverse (-ve e)
T
Q1 Q2
Q3 Q4
e
Armature voltage

where V
L-L, m
= peak line-to-line voltage
Armature current

Field voltage

(assuming a three-phase supply is used for
field excitation)
a
m
a
V
V o
t
cos
3
L, - L
=
f
m
f
V
V o
t
cos
3
L, - L
=
a
a a
a
R
E V
I

=
90
o

t
m
V
L, - L
3
t
m
V
L, - L
3
180
o

o
3-phase
supply
+

V
a

i
a

Three-phase Controlled Rectifier
2Q DC Drive Example

Four-quadrant drive
st
and 4
th
quadrant
nd
and 3
rd
quadrant
T
Q1 Q2
Q3 Q4
e
3-phase
supply
3-phase
supply
+

V
a

i
a

Two rectifiers
connected in anti-
parallel across
motor armature
I
a
+ve,
V
a
+ve or -ve
I
a
-ve,
V
a
+ve or -ve
Four-quadrant drive

where V
L-L, m
= peak line-to-line voltage.
Similar to single-phase drive:
T
Q1 Q2
Q3 Q4
e
+

V
a

i
a

Converter 1:
I
a
+ve,
V
a
+ve
Converter 2:
I
a
-ve,
V
a
+ve
1 2
1
90 0
a a
a
o t o
o
=
< <
Converter 1:
I
a
+ve,
V
a
-ve
1 2
1
180 90
a a
a
o t o
o
=
< <
2 1
2
180 90
a a
a
o t o
o
=
< <
Converter 2:
I
a
-ve,
V
a
-ve
2 1
2
90 0
a a
a
o t o
o
=
< <
a
m
a
V
V o
t
cos
3
, L L
=
t o o = +
2 1 a a
Armature current

Field voltage

Disadvantages:
Circulating current
Inductors L
1
and L
2

added to reduce
circulating currents
Slow response
+

V
a

i
a

L
1

L
2

f
m
f
V
V o
t
cos
3
L, - L
=
a
a a
a
R
E V
I

=
Three-phase Controlled Rectifier
4Q DC Drive Example

Four-quadrant drive
One controlled rectifier with 2 pairs of contactors
M1 and M2 closed for operation in 1
st
and 4
th
quadrant
R1 and R2 closed for operation in 2
nd
and 3
rd
quadrant
T
Q1 Q2
Q3 Q4
e
M1

M2

R1

R2

+ V
a
-
3-phase
supply
i
a

i
a

Rectifier Fed DC Drives Problems
1. Distortion of Supply
Controlled rectifier introduces harmonics to supply currents
and voltages which cause:
heating and torque pulsations in motor
resonance in power system network interaction between rectifier
RL with capacitor banks in system
Solution - eliminate most dominant harmonics by:
install LC filters at input of converters tuned to absorb most
dominant harmonics (i.e. 5
th
and 7
th
harmonics)
Use 12-pulse converter consists of two 6-pulse controlled rectifiers
connected in parallel
Selective switching of supply input using self-commutating devices
(eg. GTOs, IGBTs) in the converter

12-pulse converter consists of two 6-pulse controlled rectifiers
connected in parallel
2. Low supply power factor
Power factor related to firing angle o of rectifier
Low power factor especially during low speed operations
Solution:
Employ pulse-width modulated (PWM) rectifiers using GTOs,
IGBTs
High power factor
Low harmonic supply currents
Low efficiency - high switching losses (disadvantage)

3. Effect on motor
Ripple in motor current harmonics present (most dominant
is 6
th
harmonic)
causes torque ripple, heating and derating of motor
solution: extra inductance added in series with L
a
Slow response
Discontinuous current may occur if
L
a
not large enough
Motor is lightly loaded
Effect of discontinuous current
Rectifier output voltage increases motor speed increases
(poor speed regulation under open-loop operation)

References
Rashid, M.H, Power Electronics: Circuit, Devices and
Applictions, 3
rd
ed., Pearson, New-Jersey, 2004.
Dubey, G.K., Fundamentals of Electric Drives, 2
nd
ed., Alpha
Science Int. Ltd., UK, 2001.
Krishnan, R., Electric Motor Drives: Modeling, Analysis and
Control, Prentice-Hall, New Jersey, 2001.
Nik Idris, N. R., Short Course Notes on Electrical Drives,
UNITEN/UTM, 2008.
Ahmad Azli, N., Short Course Notes on Electrical Drives,
UNITEN/UTM, 2008.
11/4/2013 EEL 4242 by Dr. M.H. Rashid 24
Three-Phase Full-Converter
Figure 10.5
Reference:
Rashid, M.H, Power Electronics: Circuit, Devices and
Applictions, 3
rd
ed., Pearson, New-Jersey, 2004
11/4/2013 EEL 4242 by Dr. M.H. Rashid 25
Waveforms and Conduction Times
/ 2
( )
/ 6
/ 2
/ 6
3
3
3 sin
6
3 3
cos
o dc ab
m
m
V v d
V d
V
t o
t o
t o
t o
u
t
t
u u
t
o
t
+
+
+
+
= =
| |
= +
|
\ .
=
}
}
Figure 10.5
/ 2
2 2
( )
/ 6
3
3 sin
6
1 3 3
3 cos 2
2 4
o rms m
m
V V d
V
t o
t o
t
u u
t
o
t
+
+
| |
= +
|
\ .
= +
}
Reference:
Rashid, M.H, Power Electronics:
Circuit, Devices and Applictions,
3
rd
ed., Pearson, New-Jersey, 2004

4 Controlled Rectifier DC Drives

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