1

STUDY OF CLOSED LOOP SPEED CONTROL OF SINGLE PHASE

CONTROLLED CONVERTER FED DC MOTOR
1.1 Aim
i. To understand the quadrants of working of the single phase rectifier fed dc drives
ii. To perform closed loop speed control of the dc motor
iii. Compare the performances of dc motor fed by
a) Single phase semi converter
b) Single phase full converter
c) Single phase dual converter
1.2 Formulae
i. Semi converter
( ) 1 cos( )
m
dc
V
V o
t
= + 1.1

2
( (sin(2 )) / 2)
2
m
o
V
V t o o
t
= + 1.2
Distortion Factor =
1
s
I
I
1.3
Power Factor = ( )
1
cos
s
I
I
o 1.4
ii. Full converter
( )
2
cos
m
dc
V
V o
t
= 1.5

2
m
o
V
V = 1.6
Distortion Factor =
1
s
I
I
1.7
Power Factor = ( )
1
cos
s
I
I
o 1.8
Ripple Factor =
2
1
rms
oavg
V
V
| |

|
\ .
1.9
iii. Dual converter
( ) ( ) ( )
1 2
2
cos cos
m
dc
V
V o o
t
= 1.10

2


Table1.1 Nomenclature
Sl.no symbols description units
1 firing angle of converter Degrees
2
1
firing angle of converter1 Degrees
3
2
firing angle of converter2 Degrees
4 I
1
fundamental current Ampere
5 I
s
total supply current Ampere
6 V
dc
Average output voltage Volts
7 V
0
Rms output voltge Volts

1.3 Theory
The first commutator DC electric motor capable of turning machinery was invented by
the British scientist William Sturgeon in 1832.Later commercial type DC electric motor was
built by the American inventer Thomas Daven Pore in 1837. The modern DC drive was invented
in 1873 by Zenobe Gramme. DC drive usually offer the lowest cost for medium and high HP
applications.
Phase controlled AC-DC converters employing thyristors are extensively used for changing
constant ac input voltage to controlled dc output voltage. Phase controlled drives have some
complement of thyristors, and sometimes diodes, depending on the type of bridge.
Rectifiers provide control of dc voltage in either direction and therefore, allow motor control in
quadrants I and IV. They are known as fully- controlled rectifiers or full converter. Rectifiers are
called half controlled rectifier or semi converter as they allow dc voltage control only in one
direction and motor control in quadrant I only.

Fig.1.1 General schematic diagram of single phase rectifier fed dc drive
3

The speed reference is compared to a speed feedback signal from the motor. Any error
signal between the reference and the feedback signal is amplified in this outer (or major) control
loop via proportional and integral gain. Stability adjustments change the gain of this control loop
to match the desired dynamic response. The resulting signal is applied as a reference to the
current regulator. Motor current will provide torque, which will in turn change the motor speed
to satisfy this outer loop, driving its error to zero. P controller shows relatively high maximum
overshoot , long settling time as well as steady state error as infinity. I controller has a higher
maximum overshoot than P controller , due to the slowly starting behavior but has no steady
state error. PI controller uses the properties of both P and I controller. It shows the maximum
overshoot and settling time similar to P controller but no steady state error. Hence PI controller is
used here.
1.3.1 Speed controller
The speed regulator is a PI controller. The controller takes the speed reference (in
rad/sec) and the rotor speed of the DC machine as input. The speed reference change rate will
follow the user defined acceleration and deceleration ramps, in order to avoid sudden reference
changes, that could cause armature over-current and destabilize the system.
1.3.2 Current controller
The armature current regulator is another PI controller. The regulator controls the
armature current by computing the appropriate thyristor firing angles to the converters. This
generates the converter output voltages needed to obtain the desired armature current and thus
the desired electromagnetic torque.
1.3.3 Control and Firing
For a single-phase controlled converter, to get the linearised output voltage with the control
voltage, the inverse cosine-firing scheme is adopted. In this scheme the reference signal is
cosine. The variation in control voltage produces the firing angle delay non-linearly in inverse
cosine fashion. The converter output voltage is a function of cosine of inverse cosine of control
voltage, which linearises the output voltage with respect to the control voltage. Hence cosine
firing scheme is popularly used for converter systems.

Fig.1.2 Cosine firing pulse generation scheme
4

The linearization of the converter output voltage to input control voltage signal is accomplished
by following inverse cosine scheme

1.11
1.4 Single-Phase Semi Converter fed Separately Excited DC Motor



During mode 1, T
1
D
2
starts conduction at t = . Output voltage during this period
becomes equal to V
s
, at t = as V
s
tends to go negative. D
1
is forward biased and the load
current commutates from D
2
to D
1
and freewheels through D
1
and T
2.

During mode 2, the supply voltage is negative at that time, thyristor T
2
is fired at t =
+ . The T
2
D
1
start conduction and continues upto t = 2, where upon load current again free
wheels through T
1
and D
2
while the load voltage is clamped to zero.
1.5 Single Phase Full Converter fed DC Drives


During positive half cycle (i.e. mode1) T
1
T
2
are fired at t = , and hence T
1
T
2
are
forward biased and T
3
T
4
are reverse biased. During negative half cycle T
3
T
4
are forward biased
and they again fired at t = + Till this point T
1
T
2
conducts. At t = + T
1
T
2
are reverse
biased. During negative half cycle (i.e. mode2) T
3
T
4
are forward biased and T
3
T
4
are fired at t
= + and T
1
T
2
are reverse biased.

Fig.1.3 Circuit diagram Fig.1.4 Mode diagram of 1 half controlled rectifier with RLE load
Fig.1.5 Circuit diagram
Fig.1.6 Mode diagram of full controlled rectifier with RLE load
5

1.6 Single Phase Dual Converter
A four-quadrant dc motor drive requires dual converter to supply the power to the DC motor.
There are two modes of operation in dual converter. They are
- Non circulating current mode
- Circulating current mode

1.6.1 Non Circulating Current Mode
In this mode of operation any one of the converter is operating at a time and another
converter remains off by blocking the gate pulses to the converter. For example for first and
fourth quadrant operation, converter 1 is on and converter 2 remains off by blocking the gate
pulses to converter 2. The circuit is operated in the first quadrant when the firing angle is less
than 90 degree. It is operated in the fourth quadrant when the firing angle is greater than 90
degree.


1.6.2 Circulating Current Mode
For circulating current mode of operation both converters are always active and operated
such that the firing delay follows the principle of o
1
+ o
2
=180. The firing angle of the two
converters should be chosen such that one should be operated in rectification mode and another
one should be made to operate in inversion mode.
The magnitude of the average output voltage of two converters remains same but the
instantaneous value of output voltage of two converters are out of phase so there will be a
instantaneous voltage difference and this will result in circulating current between the two
converters. The magnitude of this circulating current is limited by a reactor which is connected
as shown in fig10.
1.7 Torque ripple
The amount of torque measured by subtracting the minimum torque during one
revolution from the maximum torque from same motor revolution
Torque ripple = T
max
T
min
1.12


Fig.1.7 Non circulating mode Fig.1.8 Circulating mode
6

1.8 Ripple factor
The output of the rectifier is not a pure dc but a pulsating dc which is due to some amount
of the ac component being superimposed on it and it is given by



1.13
1.9 Harmonic factor:
Harmonic factor is the ratio of the rms value of all the harmonic components together to
the rms amplitude of the fundamental.

1.14


Table 1.2 DC Motor Specifications

Description Value Unit
Rated voltage 110 V
Rated current 20 A
Power 2.5 Hp
Rated speed 1800 Rpm
Armature resistance (R
a
) 1 O
Inductance (L
a
) 0.046 H
Field resistance (R
f
) 281.3 O
Field inductance (L
f
) .156 H
Field armature mutual inductance (L
af
) 0.9483 H
Inertia Constant (J) 0.093 kg-m
2

Friction coefficient (B) 0.008 N-m sec / rad
Back emf and torque constant (K
a
|) 0.55 V sec / rad


Fig.1.9 Simulink model of Semi controlled converter fed dc drive
7




Fig.1.10 Simulated Waveform of Single Phase Semi Converter fed DC Drives
F.C - forward conduction F.B - forward blocking R.B - reverse blocking

8

Table 1.3 Semi Controlled Rectifier fed DC Drives
TL =12 N-m If =1.066 A
Sl.
no
Reference
speed
(rad/s)
Actual
speed
(rad/s)
%
error
Armature
current
(A)
Load torque
(Nm)
Output
voltage
(volts)
1 50 52.6 4.94 14.9 14.66 182.3
2 75 72.2 3.18 14.9 14.66 182.3
3 100 98.1 1.936 14.9 14.66 182.3
4 125 128.8 2.95 14.9 14.66 182.3
5 150 151.9 1.25 14.9 14.66 182.3



Fig.1.11 Single Phase Full Controlled Controller fed Dc Drive-Rectifier Mode
9


Fig.1.12 Single Phase Full Controlled Controller fed Dc Drive-Inverter Mode

10

Table 1.4 Full Controlled Rectifier fed DC Drives
T
L
=12 N-m

I
f
=1.066 A
S.
no
Reference
speed
(rad/s)
Actual speed
(rad/s)
%
error
Armature
current
(A)
Load torque
(Nm)
Output
voltage
(volts)
1 50 49.5 1.01 15.31 15.48 128.7
2 75 77.5 3.22 15.31 15.48 128.7
3 100 101.5 1.50 15.31 15.48 128.7
4 125 126.5 1.18 15.31 15.48 128.7
5 150 152 1.31 15.31 15.48 128.7

Simulated waveform of Dual converter


Fig.1.13 Single phase full controlled controller fed Dc drive- I Quadrant

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Fig.1.14 Single phase full controlled controller fed Dc drive - II Quadrant


Fig.1.15 Single phase full controlled controller fed Dc drive - III Quadrant


12


Fig.1.16 Single phase full controlled controller fed Dc drive - IV Quadrant
Table 1.5
Converter type

Current
ripple
(A)
Torque
ripple
(Nm)
Input side Output side
Power
factor
Harmonic
factor

Speed Quadrant
of
operation
possible
Reference
(rad/s)
Actual
(rad/s)
Single phase semi 2.5 1.5 0.9969 0.8969 100 98.1 I
Single phase full 3.8 0.075 0.8128 0.6754 100 101.5 I&II
Single phase dual
non-circulating
mode
4 2.8 0.869 0.5154 100 102.2 All
Single phase dual
circulating mode
5.5 2.5 0.921 0.4321 100 103.2 All


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1.10 Conclusion
i. The dynamic performance of the converter fed DC motor drive have been evaluated
ii. Different operating modes are studied for variable speed DC drive
iii. The Matlab /simulink has been used to model and simulate the DC motor drive
iv. The speed of a dc motor has been efficiently controlled by using single phase
rectifiers along with PI type Speed and Current controller
1.11 References
[1] Austin Hughes, Electric motor drives fundamental types and applications, Third Edition
2006. (Page no: 134 to 155)
[2] M.D Singh, K.B Kanchandani, Power Electronics Tata McGraw Hill Publishing Company
Limited New Delhi 1998. (Page no: 165 to 185)
[3] Gopal k.Dubey, Power semiconductor controlled drives,Second Edition, Page no: 65 to 103.
[4] Muhammad H Rashid, Power Electronics, circuits, devices and applications, Second Edition
Prentice-Hall of India, 1994. (Page no: 169 to 175)
[5] R. Krishnan, Electric motor drives modeling analysis and control, Original Edition 2010,
Page no 47 to 59.













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