Power Electronics and Drives

By Rajan Devi
Associate Professor in Electronics Engineering
Karmaveer Bhaurao patil College of Engineering, Satara
https://sites.google.com./site/rjdevi/
Syllabus Structure
Course Objectives
Course outcomes
Text and reference Books
Electrical Drive

Refer:
Fundamentals
of Electric
Drives by G K
Dubay
Parts of Electric Drive
• Load
• Motor
• DC motors
• Shunt
• Series
• Compound
• Permanent Magnet
• AC Motors
• Induction (Squirrel cage, Wound rotor)
• Synchronous (Wound rotor, permanent Magnet)
• BLDC (Brushless DC)
• Stepper
Parts of Electric Drive
• Power Modulator
• Converters
• From power sources
• Fixed voltage and fixed Frequency AC
• Fixed voltage DC
• To Motor requirements
• Variable voltage variable frequency AC
• Variable voltage DC
• Met by
• AC to DC converters
• DC to DC choppers
• DC to AC inverters
• AC to AC Cycloconverters
• Cascaded combinations of above
Parts of Electric Drive
• Power Modulator (Continued)
• Variable impedances
• Adding series resistors, inductors etc (eg fan regulator)
• Switching circuits
• For changing motor connections to change operating quaderent
• Changing motor parameters during starting or braking
• Sequencing motor drive operation
• Provide interlocking to avoid maloperation
• Disconnect motor under abnormal operating conditions
Parts of Electric Drive
• Control Unit
• Based on power modulator used
• Triggering circuits for SCR
• Digital and microcontroller based control circuits for switching SCR, MOSFETS etc
• PLC and similar controllers
• Source
• 1 ph and 3 ph AC at 50 Hz, at 415 V, 1100V, 2200v, 3300V, 11kV, 22kV, 33kV
• Some industry and aviation applications 400Hz supply
• 25kV 1 ph 50 Hz, 600V, 750V, 1.5kV DC for traction
• Low voltage DC sources at 6V, 12V, 24V, 36V, 46V, 110V (Multiples of 12V)
Selection of Electrical Drive
• Steady state operational requirements
• Speed torque characteristics, speed range, efficiency, quadrant of operation
• Speed regulation, speed fluctuations, speed resolution, ratings
• Transient operation requirements
• Acceleration, deceleration, starting, braking, reversing
• Type of power source and source related requirements
• AC, DC, CV, CC, voltage range, voltage fluctuations, power factor,
• effect of source variations on load, ability to accept regenerated power
• Capital and running cost, maintenance needs, life
• Space and weight requirements
• Environment, location
Selection of Electrical Drive
• Environment, location
• Operating Temperature
• Insulation class and Temperature limit
• A 105⁰
• E 120⁰
• B 130⁰
• F 155⁰
• H 180⁰
• C above 180⁰
• Operating condition
• Continuous duty
• Fluctuating load
• Short time duty
• Intermittent periodic duty
• Reliability
Comparison: AC and DC drives
Parameter
Constant and stable speed
operation
High starting torque
Variable speed requirements
Maintenance
Cost
(Majorly depend on load
requirements and power source
requirements)
AC Drives
Induction motors are widely
preferred as AC source is
commonly available
Wound rotor induction motors or
high rotor resistance induction
motors may be used
Need variable frequency source or
frequency converter
Less maintenance
Motor needs a drive (suitable
electronic converters) hence
comparatively high cost
DC Drives
DC shunt motors may be used.
Needs DC source, or AC to DC
converter
Use of DC series motors is more
preferred
Speed control is comparatively
simple
More and frequent maintenance of
brushes and related accessories,
commutator
DC motor drive is simple hence cost
is less.
DC motors
• Types
• Separately Excited Motor
• Shunt Motor
• Series Motor
• Compound Motor

• Basic components of DC motor

• Armeture (Rotating part)
• Field winding or Stator (Stationary part)
• Brushes and commutator (transferring electrical energy to rotating part)
DC Motor
Separately Excited DC Motor
• Circuit Diagram
𝑉 = 𝐼𝑎 𝑅𝑎 + 𝐸𝑏 V is voltage applied to Armature
Ia is Current through Armature
𝐸𝑏 = 𝑘∅𝜔 = 𝑉 − 𝐼𝑎 𝑅𝑎 Eb is Back EMF
ф is Magnetic flux
𝑉−𝐼𝑎 𝑅𝑎 𝑃∅𝑍𝑁
𝜔= 𝐸𝑏 = N is speed in rpm, ω (=N/60) is speed in rps
𝑘∅ 60𝐴
𝑃𝑍
𝑘= P is number of poles, Z is number of conductors, A is no of parallel paths
𝐴
𝑇 = 𝑘∅𝐼𝑎 T is shaft torque in Nm

𝑉 𝑇𝑅𝑎
𝜔= − is equation of characteristics line 𝜔 = 𝑎 + 𝑏𝑇 where b is slope of line and a is no load speed of motor
𝑘∅ 𝑘∅ 2
Motor types
• DC Shunt Motor

• DC Series Motor DC Compound Motor

Starting of Motor
Voltage equation of DC motor
𝑉 = 𝐼𝑎 𝑅𝑎 + 𝐸𝑏
Ra is very small (in few Ohms)
At start Eb=0 as ω is zero
After voltage is applied to motor armature draws large current and may
damage Armature.
To limit this currents Starters are used
Starters put additional resistance in series with armature to limit
starting current, and provides additional protections
Starters for DC motor
Braking
• In electric braking Motor is made to work as generator producing
negative torque.
• Use of mechanical brakes leads to wear and tear of mechanical parts
• In electric braking energy is usefully employed instead of wasting as
mechanical brakes.
Electric braking
• Regenerative braking
• Plugging or reverse voltage braking
• Dynamic braking (Rheostatic braking)
 For Unit 4, 5 and 6
Refer to the book available in library
Power Semiconductor Controlled Drives
By Gopal K Dubey
Speed control methods
• Armature voltage control
𝑉−𝐼𝑎 𝑅𝑎
• Basic speed equation 𝜔=
𝑘∅
• When motor is running with constant load Ia is fairly constant.
• If ф is maintained constant, then speed is proportional to voltage applied to
armature.
• This method is used to vary the speed between zero to rated speed.
• Motor performs constant torque operation (Rated torque is constant)
Speed control methods
• Flux control (field current control)
𝑉−𝐼𝑎 𝑅𝑎
• Basic speed equation 𝜔=
𝑘∅
• When motor is running with constant load Ia is fairly constant.
• If V is maintained constant, then speed is inversely proportional to magnetic
flux ф.
• This method is used to vary the speed above the rated speed.
• Motor performs constant power operation (power delivered by motor is
constant)
• P ∝ ωT
Operating Modes
• motoring mode,
• the machine works as a motor and converts the electrical energy into
mechanical energy, supporting its motion.
• braking mode,
• the machine works as a generator, and converts mechanical energy into
electrical energy and as a result, it opposes the motion.
• The Motor can work in both, forward and reverse directions, i.e., in
motoring and braking operations.
Operating Modes
• A motor operates in two modes – Motoring and Braking.
• Four Quadrant Operation of any drive or DC Motor means that the
machine operates in four quadrants. They are Forward Braking,
Forward motoring, Reverse motoring and Reverse braking.
• A motor drive capable of operating in both directions of rotation and
of producing both motoring and regeneration is called a Four
Quadrant variable speed drive.
Four quaderent operation
• Motoring and braking
AC Motors
• Types according to power supply used
• Single phase
• Three phase
• Types according to rotor construction
• Squirrel cage
• Wound rotor
• Wound rotor with slip rings
Main parts
• Stator (stationary part)
• Rotor (Rotating part)
Speed and Torque
2
𝜔𝑚𝑠 = 𝜔 𝜔𝑚𝑠 is synchronous speed in rad/s
𝑝
p is number of poles
𝜔 is frequency in rad/s
Ns=120F/p Ns is synchronous speed in RPM
F is frequency in Hz
𝜔𝑚𝑠 −𝜔𝑚 𝑁𝑠 −𝑁
𝑠= = s is slip
𝜔𝑚𝑠 𝑁𝑠
Torque delivered by induction motor is given by

𝑇 ∝ ∅𝑚𝑎 𝐹𝑚𝑟 T is torque

∅𝑚𝑎 is airgap flux per pole
𝐹𝑚𝑟 is peak rotor mmf in amp-turns
𝑇 ∝ ∅𝑚𝑎 𝐼𝑟 𝐼𝑟 rotor current
Torque speed characteristics of IM
Motor Starting
• Large starting current (3 to 4 times of full load current)
• To avoid large starting currents damage rotor windings starters are
used
• DOL (Direct on Line) starter (uses thermal Overload relay)
• Star delta starter
• Auto transformer starter
• Rotor resistance starter (used in wound rotor slip ring IM)
Induction Motor starters
• DOL Starter
• Direct On Line starter
• Connects Induction motor directly online through contactor and protected
through thermal overload relay
• Used for small capacity motors (less than 2.2kW)
• For large capacity motors Star Delta motors are preferred
DOL Starter
Star Delta Starter
• Star Delta Starter
• Motor stator windings are connected in star at the time of starting
• Each phase winding is provided with reduced (line voltage/√3) voltage
• This reduces starting current
• After motor gains about 80% speed stator winding connections are changed
to delta connection.
• Full line voltage is applied across motor winding
• Used in medium capacity motors (up to 20kVA)
• Autotransformer starter
• Soft starters (use Electronic static devices)
Star Delta Starter
Auto transformer Starter
Auto
transformer
starter
Panel
A product
By
‘Bhartiya
Cutler
Hammer’
(BCH)
Rotor Resistance Starter
• Method is used for wound rotor with slip rings
• Limits the rotor current consequently limiting current through stator
• At starting, resistance is increased in rotor circuit by adding resistance
externally
• Three phase star connected rheostat is used.
• Water resistance was also used (water starter)
Braking
• If supply to motor is disconnected then only load torque is opposing torque to
stop motor
• Motor will stop after KE in load inertia is dissipated
• This KE can be dissipated at faster rate if Motor is working as generator and
convert KE in Electrical energy and dissipate it electrically
• This known as electric braking
• Types of braking are

• Regenerative braking of induction motor

• Plugging Braking of induction motor
• Dynamic braking of induction motor
Speed control methods of AC motors
• A three phase induction motor is basically a constant speed motor
• The speed control of induction motor is done at the cost of decrease
in efficiency and low electrical power factor.
• Speed can be controlled by changing frequency.
Speed Control
• Synchronous speed of IM
• Where, f = frequency and P is the number of poles
• The speed of induction motor is given by
• N is the speed of the rotor of an induction motor,
• Ns is the synchronous speed,
• s is the slip.
Torque
• The torque produced by three phase induction motor is given by,

• When the rotor is at standstill slip, s is one, the torque is

• Where,
E2 is the rotor emf
Ns is the synchronous speed
R2 is the rotor resistance
X2 is the rotor inductive reactance
• The Speed of Induction Motor can be changed from Both Stator and
Rotor Side
• The speed control of three phase induction motor from stator side
are
• V / f control or frequency control.
• Changing the number of stator poles.
• Controlling supply voltage.
• Adding rheostat in the stator circuit.
• The speed controls of three phase induction motor from rotor side
are
• Adding external resistance on rotor side.
• Cascade control method.
• Injecting slip frequency emf into rotor side.