Vdocuments - MX - Eeeb2833 Electrical Machines Drives

DC Drives
By
Dr. Ungku Anisa Ungku Amirulddin
Department of Electrical Power Engineering
College of Engineering
Dr. Ungku Anisa, July 2008 EEEB283 - Electrical Machines & Drives 1
Outline
 Power Electronics Converters for DC Drives
 Controlled Rectifier Fed DC Drives
 Single Phase
 Three Phase
 DC – DC Converter Fed Drives
 Step Down Class A Chopper
 Step Up Class B Chopper
 Two-quadrant Control
 Four-quadrant Control
 Closed-loop Control (Brief overview)
 References
Power Electronic Converters
for DC Drives
 To obtain variable voltage
 Efficient
 Ideally lossless
 Depending on voltage source:
 AC voltage source  Controlled Rectifiers
 Fixed DC voltage source
 DC-DC converters (switch mode
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 DC Drives
 Contains low frequency AC ripple
 To reduce ripple: extra inductance added in series with La
 Slow response
 Discontinuous current may occur if
 La not large enough
 Motor is lightly loaded
 Half-wave rectifier is used
 Effect of discontinuous current
 Rectifier output voltage increases  motor speed increases
(poor speed regulation under open-loop operation)
Controlled Rectifier Fed
– Single-phase DC Drives 
 Two-quadrant drive Q2 Q1
 Limited to applications up to 15 kW Q3 Q4 T
 During regeneration, Ea can be reversed by reversing field
excitation
– Single-phase DC Drives +
ia
Single-
phase Va
supply
 For continuous current: 
 Armature voltage 2Vm
Va  cos a

2Vm
where Vm = peak voltage 
 Armature current Va  Ea
Ia  
Ra 90o 180o
 Field voltage V  2Vm cos 

2 Vm

f f

– Single-phase DC Drives 
 Four-quadrant drive
 Converter 1 for operation in 1st and 4th quadrant Q2 Q1
 Converter 2 for operation in 2nd and 3rd quadrant
Q3 Q4 T
 Limited to applications up to 15 kW
+
Single- ia Single-
phase Va phase
supply supply

Converter 1 Converter 2
– Single-phase DC Drives
 For continuous current:
 Armature voltage:
2Vm
 If Converter 1 operates Va  cos a1

2Vm
 If Converter 2 operates Va  cos a 2

where  a 2     a1
Vm = peak voltage + ia
Va  Ea Va
I
 Armature current a 
Ra 
2Vm Converter 1 Converter 2

 Field voltage V f  cos f

– Three-phase DC Drives 
 Two-quadrant drive Q2 Q1
 Limited to applications up to 1500 kW Q3 Q4 T
 During regeneration, Ea can be reversed by reversing field
excitation
ia
– Three-phase DC Drives +
3-phase
supply Va
 For continuous current: 

3VL-L, m
 Armature voltage Va  cos a
 3VL -L, m

where VL-L, m = peak line-to-line voltage
 Armature current Va  Ea 
Ia  90o 180o
Ra
3VL-L, m

 Field voltage 3VL-L, m 
Vf  cos f

(assuming a three-phase supply is used for field excitation)
 Converter 1 for operation in 1st and 4th quadrant Q2 Q1
 Converter 2 for operation in 2nd and 3rd quadrant Q3 Q4 T
+
ia
3-phase 3-phase
supply Va
supply

Converter 1 Converter 2
– Three-phase DC Drives
Disadvantage:
 For continuous current: • Circulating
 Armature voltage: current
3VLL , m
 If Converter 1 operates Va  cos a1 • Slow
 response
 If Converter 2 operates V  3VL-L, m cos

a a2

where  a 2     a1
VL-L, m = peak line-to-line voltage
+ ia
Va  Ea
 Armature current I a  Va
Ra

3VL-L, m
 Field voltage V  cos f Converter 1 Converter 2
f

 One controlled rectifier with 2 pairs of contactors Q2 Q1
 M1 and M2 closed for operation in 1st and 4th quadrant Q3 Q4 T
 R1 and R2 closed for operation in 2nd and 3rd quadrant
M1 R1
3-phase
supply
+ Va -
R2 M2
DC – DC Converter Fed Drives
 To obtain variable DC voltage from fixed DC source
 Self-commutated devices preferred (MOSFETs, IGBTs,
GTOs) over thyristors
 Commutated by lower power control signal
 Commutation circuit not needed
 Can be switched at higher frequency for same rating
 Improved motor performance (less ripple, no discontinuous
currents, increased control bandwidth)
 Suitable for high performance applications
 Regenerative braking possible up to very low speeds even
when fed from fixed DC voltage source
- Step Down Class A Chopper

Motoring
Q2 Q1
Q3 Q4 T
Motoring
S is ON (0  t  ton)
Duty
Interval
dia - ia 
Raia  La  E V
dt
Motoring
S if OFF (ton  t  T)
Freewheeling
Interval
dia - ia 
Raia  La E 0
dt
DC – DC Converter Fed
Motoring
ton
 Duty cycle k where T  chopper period
T
Duty
Interval Freewheeling
 Under steady-state conditions - ia  Interval
 Motor side: Va  Ra I a  E - ia 
 Chopper side: Va  kV
kV  Va  Ra I a  E
average Va
 Hence,
kV  E
Ia 
average Ia Ra
kT
- Step Up Class B Chopper 
Regenerative Braking Q2 Q1
Q3 Q4 T
•Possible for speed

above rated speed
and down to nearly
zero speed
•Application:
• Battery operated
vehicles
• Regenerated
power stored in
Dr. Ungku Anisa, July 2008 EEEB283 - Electrical Machines & Drives battery 20
- Step Up Class B Chopper
Regenerative
Braking
S is ON (0  t  ton)
 Va = 0
 ia increases due to E
 Mechanical energy
converted to
electrical (i.e. Energy Storage
dia
generator) Raia  La E Interval
dt - ia 
 Energy stored in La
Regenerative
Braking
S if OFF (ton  t  T)
 ia flows through diode
D and source V
 Energy stored in La &
energy supplied by
machine are fed to dia Duty
the source Raia  La V  E Interval
dt - ia 
Regenerative Braking
ton
 Duty cycle k where T  chopper period
T
Energy Storage
Duty
 Under steady-state conditions Interval
Interval
- ia 
 Generator side: Va  E  Ra I a - ia 
 Chopper side: Va  1  k V
average Va
1  k V  Va  E  Ra I a
E  1  k V
 Hence, Ia 
average Ia Ra T
- Two-quadrant Control 
 Forward motoring Q1 - T1 and D2
 Forward braking Q2 – T2 and D1 Q2 Q1
Q3 Q4 T
+
T1
V D1
+ No Speed
T2 Va Reversal
D2
-
-
- Two-quadrant Control
 •Average Va positive
 Forward motoring Q1 •Average Va made larger
 T1 conducting: Va = V Q2 Q1 than back emf Eb
•Ia positive
Q3 Q4 T
T1 D1
+
ia  D2 conducting: Va = 0
V
+
 T2 D2
Va T1 D1
+
ia
- V
+
 T2 D2
Va
Va Eb -
- Two-quadrant Control
 •Average Va positive
 Forward braking Q2 •Average Va made
 D1 conducting: Va = V Q2 Q1 smaller than back emf Eb
•Ia negative
Q3 Q4 T
T1 D1
+
 T2 conducting: Va = 0
ia
V
+
 T2 D2 T1 D1
+
Va
ia
Vdc
-
+
 T2 D2
Va
Eb -
Va
- Four-quadrant Control 
 Operation in all quadrants
Q2 Q1
 Speed can be reversed
Q3 Q4 T
D1 D3
T1 T3
+ Va -
T4 T2
D2
D4

- Four-quadrant Control
 Forward Motoring Q1 Q2 Q1
T3 and T4 off
 T1 and T2 on Q3 Q4 T
 Va = V
 Ia increases
 Reverse Braking Q4
(Regeneration) +
D1 D3
 T1 off but T2 still on T1 T3
 Va = 0 + Va -
 Ia decays thru T2 and D4 V
 T1 and T2 off
 Va = -V T4 T2
D4 D2
 Ia decays thru D3 and D4 -
 Energy returned to supply

- Four-quadrant Control
 Reverse Motoring Q3 Q2 Q1
 T3 and T4 on T1 and T2 off
Q3 Q4 T
 Va = -V
 Ia increases in reverse direction
 Forward Braking Q2
(Regeneration)
 T3 off but T4 still on +
D1 D3
 Va = 0 T1 T3
 Ia decays thru T4 and D2 + Va -
 T3 and T4 off V
 Va = V
 Ia decays thru D1 and D2 T4 T2
D4 D2
 Energy returned to supply
-
Closed-loop Control
 Feedback loops may be provided to satisfy one or more of the
following:
 Protection
 Enhancement of speed response
 Improve steady-state accuracy
 Variables to be controlled in drives:
 Torque – achieved by controlling current
 Speed
 Position
 Controllers are designed based on a linear averaged model
Closed-loop Control
 Torque – achieved by controlling current
 Commonly employed current sensor:
Current shunt – no electrical isolation, cheap

 Hall effect sensor – provides electrical isolation
d
 Speed is governed by torque: Te  TL  J
dt
e.g. With phase-controlled rectifier
+
iref + current vc firing  controlled
- controller circuit rectifier Va
–
Closed-loop Control
 Speed – with or without current loop
 Commonly employed speed/position sensor:
 Tachogenerator – analog based
 Digital encoder – digital based, converts speed to pulses
 Torque is governed by speed demand:
 Without current loop: no limit on current – can be too high
 With current loop: current can be limited
Closed-loop Control
 Speed control without current loop:
 Simple implementation
 Current can be too high  may damage converter
Power +
* + Speed vc
Electronic
controller va
- Converters  Tacho

Closed-loop Control
 Speed control with current loop:
 Two controllers required: speed and current
 Current limited by limiting ia*
* + Power +
Speed ia*+ Current vc
Electronic va
controller controller
- Converters 
-
 ia
Tacho
References
 Rashid, M.H, Power Electronics: Circuit, Devices and
Applictions, 3rd ed., Pearson, New-Jersey, 2004.
 Dubey, G.K., Fundamentals of Electric Drives, 2nd 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.

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DC Drives

 Field voltage V  2Vm cos 

2Vm Converter 1 Converter 2

 For continuous current: 

 If Converter 2 operates V  3VL-L, m cos

•Possible for speed

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