Power Electronics and

Drives (Version 3-2003):

Dr. Zainal Salam, UTMJB
1
DC Motor Drive
General Concept
Speed Control
SCR Drives
Switched-mode DC Drives
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
2
DC Motor
Advantages of DC motor:
Ease of control
Deliver high starting torque
Near-linear performance
Disadvantages:
High maintenance
Large and expensive (compared to induction
motor)
Not suitable for high-speed operation due to
commutator and brushes
Not suitable in explosive or very clean
environment
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
3
DC Motor Drives
The DC drive is relatively simple and cheap
(compared to induction motor drives). But DC
motor itself is more expensive.
Due to the numerous disadvantages of DC motor
(esp. maintenance), it is getting less popular,
particularly in high power applications.
For low power applications the cost of DC motor
plus drives is still economical.
For servo application, DC drives is still popular
because of good dynamic response and ease of
control.
Future Trend? Not so bright prospect for DC, esp. in
high power drives.
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
4
Separately Excited DC Motor
The field windings is used to excite the field flux.
Armature current is supplied to the rotor via brush
and commutator for the mechanical work.
Interaction of field flux and armature current in the
rotor produces torque.
v
a
, V
a
v
f
, I
f
L
a
R
a
L
f
R
f
i
a
, I
a
i
f
, I
f
E
g

T
d
J
B
T
L
+
+
+

Power Electronics and

Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
5
Operation
When a separately excited motor is excited by a
field current of i
f
and an armature current of i
a
flows in the circuit, the motor develops a back emf
and a torque to balance the load torque at a
particular speed.
The i
f
is independent of the i
a
.Each windings are
supplied separately. Any change in the armature
current has no effect on the field current.
The i
f
is normally much less than the i
a
.
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
6
Field and armature equations
rad/sec) (in speed motor the is and
rad/s) - V/A (in constant age motor volt the is
: as expressed is voltage, speed as known
also is which emf, back motor The
ly. respective inductor, and
resistor armature the are and where
: current armature ous Instantane
ly respective inductor, and
resistor field the are and where
: current field ous Instantane

v
f v g
f f
g
a
a a a a
f f
f
f f f f
K
i K e
L R
e
dt
di
L i R v
L R
dt
di
L i R v
=
+ + =
+ =
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
7
Basic torque equation
) (kg.m motor the of inertia :
(N.m) torque load :
) (N.m/rad/s constant, friction viscous :
where
: i.e. inertia, and
friction the plus torque load the to equal be must
torque developed the operation, normal For
: as written is it Sometimes
rad/s) - V/A (in
constant. torque the is ) ( where
: is motor by the develped torque The
2
J
T
B
T B
dt
d
J T
i K T
K K
i i K T
L
L d
a t d
v t
a f t d
+ + =
=
=
=

Power Electronics and

Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
8
Steady-state operation
f v a a g a a a
f v g
f f f
I K R I E R I V
I K E
R I V

+ = + =
=
=
circuit armature The
: by given is emf back The
circuit, field For
saturated. not is motor the Assuming zero. is
s derivative time , operations state - steady Under
R
f
R
a
I
a
L
a
I
f
E
g
L
f
+

+ +

V
a

V
a
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
9
Steady-state torque and speed

d d
L a f t d
f v
a
a
a
f v
a a a
T P
T B I I K T
I K
V
I
R
I K
R I V
=
+ = =
=

=
: is power required The
: is torque developed The
tage. supply vol on the only depends speed motor
the constant, kept is current field the if is That

small, is i.e. loaded, lightly is motor the
or when usual), is (which value small a is If
: derived easily be can speed motor The
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
10
Torque and speed control
From the derivation, several important
facts can be deduced for steady-state
operation of DC motor.
For a fixed field current, or flux (I
f
) , the
torque demand can be satisfied by varying
the armature current (I
a
).
The motor speed can be varied by:
controlling V
a
(voltage control)
controlling V
f
(field control)
These observations leads to the
application of variable DC voltage to
control the speed and torque of DC motor.
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
11
Example 1
Consider a 500V, 10kW , 20A rated- DC motor
with armature resistance of 1 ohm. When supplied
at 500V, the UNLOADED motor runs at 1040
rev/min, drawing a current of 0.8A (ideally current
is zero at no-load).
Estimate the full load speed at rated values
Estimate the no-load speed at 250V.
rad/sec) strictly equation this reality, in : (Note
rev/min 519
48 . 0
) 1 ( 8 . 0 250
250V, at voltage and load - no At
rev/min 1000
48 . 0
) 1 ( 20 500
value, rated and load full At
48 . 0
1040
) 1 ( 8 . 0 500
=

=
+ =
=

=
=

=
+ = + =
f v
a a a
f v a a a
f v
a a a
fl
a a a
f v
f v a a g a a a
I K
R I V
I K R I V
I K
R I V
R I V
I K
I K R I E R I V

Power Electronics and

Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
12
Variable speed operation
Family of steady-state torque speed curves for a
range of armature voltage can be drawn as above.
The speed of DC motor can simply be set by
applying the correct voltage.
Note that speed variation from no-load to full load
(rated) can be quite small. It depends on the
armature resistance.
500 Speed (rev/min)
Torque
1000
750 250
500V 375V 250V
125V
Rated torque)
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
13
Base Speed and Field-weakening
Base speed:
base
the speed which correspond to the rated V
a
, rated I
a
and rated I
f
.
Constant Torque region ( >
base
, )
I
a
and I
f
are maintained constant to met torque
demand. V
a
is varied to control the speed. Power
increases with speed.
Constant Power region ( >
base
, )
V
a
is maintained at the rated value and i
f
is reduced to
increase speed . However, the power developed by
the motor (= torque x speed) remains constant.
Known as field weakening.

base

Torque
Power
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
14
Four quadrant operation
1
2
3
4
A
C
D
TORQUE
SPEED
FORWARD
MOTORING
REVERSE
MOTORING
REVERSE
GENERATING
B
FORWARD
GENERATING
v
a
e
g
i
a
i
a
= +; T
e
= +
v
a
= +; = +
i
a
= ; T
e
=
v
a
= + ;
m
= +

m
T
e
e
g
v
a
i
a
= ; T
e
=
v
a
= ;
m
=
i
a
i
a
= +; T
e
= +
v
a
= ; =
i
a
v
a
e
g
e
g
v
a
i
a
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
15
Regenerative Braking (in Q2)
Say the motor running at position A. Suddenly v
a
is
reduced (below e
g
). The current ia will reverse
direction.Operating point is shifted to B.
Since i
a
is negative, torque T
e
is negative.
Power is also negative, which implies power is
generated back to the supply.
In other words, during the deceleration phase,
kinetic energy from the motor and load inertia is
returned to the supply.
This is known as regenerative braking-an efficient
way to brake a motor. Widely employ in electric
vehicle and electric trains. If we wish the motor to
operate continuously at position B, the machine
have to be driven by mechanical source.
The mechanical source is a prime mover.
We must force the prime mover it to run faster so
that the generated e
g
will be greater than v
a
.
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
16
Drive types
SCR phase-angle controlled drive
By changing the firing angle, variable DC
output voltage can be obtained.
Single phase (low power) and three phase (high
and very high power) supply can be used
The line current is unidirectional, but the output
voltage can reverse polarity. Hence 2- quadrant
operation is inherently possible.
4-quadrant is also possible using two sets of
controlled rectifiers.
Switched-mode drive
Using switched mode DC-DC converter. Dc
voltage is varied by duty cycle.
Mainly used for low to medium power range.
Single-quadrant converter (buck): 1- quadrant
Half bridge: 2-quadrant
Full bridge: 4-quadrant operation
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
17
Thyristor/SCR drives
Mains operated.
Variable DC voltages are obtained from SCR firing
angle control.
Slow response.
Normally field rectifier have much lower ratings
than the armature rectifier. It is only used to
establish the flux.
Speed
reference
Three/single phase supply
Single phase supply
Control
and
SCR
firing
Current
sensor
Tachometer Current
Speed
M
T
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
18
Continuous/Discontinuous current
The key reason for successful DC drive operation is
due to the large armature inductance L
a
.
Large L
a
allows for almost constant armature
current (with small ripple) due to current filtering
effect of L. (Refer to notes on Rectifier).
Average value of the ripple current is zero. No
significant effect on the torque.
If L
a
is not large enough, or when the motor is
lightly loaded, or if supply is single phase (half-
wave), discontinuous current may occur.
Effect of discontinuous current: Output voltage of
rectifier rises; motor speed goes higher. In open-
loop operation the speed is poorly regulated.
Worthwhile to add extra inductance in series with
the armature inductance.
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
19
Basic single-phase drive
f
m
f
g
a
g a
a
a
m
a
V
V
E
R
E V
I
V
V

cos
2
: voltage Field
emf back the is ;
: is current (DC) Armature
cos
2
: is voltage armature current, continuous For
=

=
=
+
v
s
_
I
a
T
a1
T
a2
T
a3
+
+

V
a
R
a
T
a4
L
a
E
g

I
f
+
v
s
_
T
f1
T
f2
T
f3
+

L
f
T
f4
L
f
V
f
ARMATURE
FIELD
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
20
Basic three-phase drive
f
m
f
E
a
E a
a
a
L L
m
a
V
V
V
R
V V
I
V
V

cos
2
: field for used is phase single If
emf back the is ;
: current (DC) Armature
cos
3
: voltage Armature

,
=

=
=

I
a
T
a1
+
+

V
a
R
a
L
a
E
g

T
a3
T
a2
T
a6
_ v
cn
+
n
_ v
bn
+
_ v
an
+
T
a5
T
a4
+

L
f
L
f
V
f
I
f
ARMATURE FIELD
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
21
Example 2
o
f a
f m
a
f a
f
a
m
a f
f E
E
E a a a
a
m
a
f
V
KI R
KI
T
V
KI R
KI
T V
I KI T
KI V
V
V R I V
V
V
KI
32 . 62
60
200
2 5 . 2 2
5 . 2
60
240 2 2
cos
2
cos
cos
2
and
5 . 2
i.e emf, back the is Where

And
cos
2
current, continuous For
. continuous is current the Assume
rpm. 200 at opearte motor to for the angle g triggerin the
Calculate ohm. 2 is resistance armature the and 2.5 motor
the of constant field The supply. ac 240V a to connected
converter wave - full s by driven is motor The Nm. 60 of
load orque constsnt t a has motor DC excited saperately A
1
1
=
)
`

|
.
|

\
|
+
|
.
|

\
|

(
(

+
|
|
.
|

\
|
=
(
(

+
|
|
.
|

\
|
=
=
= =
+ =
=
=

Power Electronics and

Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
22
Example 3
A rectifier-DC motor drive is supplied by a three-phase, full
controlled SCR bridge 240Vrms/50Hz per-phase. The field is
supplied by a single-phase 240V rms/50Hz, with uncontrolled
diode bridge rectifier. The field current is set as maximum as
possible.
The separately excited DC motor characteristics is given as
follows:
Armature resistance:R
a
= 0.3 ohm
Field resistance: R
f
=175 ohm
Motor constant: K
V
=1.5 V/A-rad/s
Assume the inductance of the armature and field circuit is large
enough to ensure continuous and ripple-free currents. If the
delay angle of the armature converter (
a
) is 45 degrees and the
required armature current is 30A,
a) Calculate the developed torque, T
d
.
b) Speed of the motor, (rad/s)
c) If the polarity of the field current is reversed, the motor
back emf will reverse. For the same armature current of 30A,
determine the required delay angle of the armature converter.
Nm I I K T
A
V
R
V
I
V
V
V a
a f v d
f
f
f
f
m
f
58 . 55 30 235 . 1 5 . 1
235 . 1
175
216
216 0 cos
240 2 2
cos
2
) (
0. maximum, is current fiels the Since
= = =
= = =
=

= =
=

Power Electronics and

Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
23
Example 3 (cont)
o
L L m
a
a
a
L L m
a
a a g a
g
a a a g
o
a
L L m
a
a
a a a g
f v
g
V
V
V
V
Also
V R I E V
V E
V
V R I V E
V
V
V
R I V E
I K
E
4 . 132
240 2 3 3
) 5 . 378 (
cos
3
cos
cos
3
,
3 . 378 3 . 0 30 3 . 387
and
3 . 387
then reversed, is field of polarity the Now (c)
sec / rad 06 . 209
235 . 1 5 . 1
3 . 387
3 . 387 3 . 0 30 3 . 396
3 . 396 45 cos
240 2 3 3
cos
3
, 45 with phase - by three supplied is armature The
speed Motor (b)
1
,
1
,
,
o
=
|
.
|

\
|


=
|
|
.
|

\
|

=
=
= + = + =
=
=

=
= = =
=

= =
=
=
=

Power Electronics and

Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
24
Reversal
DC motor in inherently bi-directional. Hence no-
problem to reverse the direction. It can be a motor
or generator.
But the rectifier is unidirectional, because the SCR
are unidirectional devices.
However, if the rectifier is fully controlled, it can be
operated to become negative DC voltage, by
making firing angle greater than 90 degrees,
Reversal can be achieved by:
armature reversal using contactors (2-
quadrant)
field reversal using contactors (2-quadrant)
double converter (full 4-quadrants)
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
25
Reversal using armature or field
contactors
FIELD
DRIVE REVERSING USING ARMATURE OR FIELD CONTACTORS
CONTACTOR
CONTACTOR AT THE ARMATURE
SIDE (SINGLE PHASE SYSTEM)
Vs
Va Eg
Va
Eg
Va Eg
1
2
1
2
CONTACTOR AT
1
POSITION
(MOTORING)
CONTACTOR AT
2 POSITION
(BRAKING/
GENERATION)
CONTACTOR AT
2
POSITION
(RESERVE)
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
26
Reversing using double converters
converter 1 converter 2
FIELD
Vs
Principle of reversal
Practical circuit
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
27
Switchedmode DC drives
Supply is DC (maybe from rectified-filtered AC, or
some other DC sources).
DC-DC converters (coppers) are used.
suitable for applications requiring position control
or fast response, for example in servo applications,
robotics, etc.
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,
twoquadrant
and fourquadrant
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
28
Single-quadrant drive
Unidirectional speed. Braking not required.
f v
a
a
g a
a
on
t
a
I K
V
R
E V
I
DV
T
t
Vdt
T
V
T t
on
=

=
= = =
< <
}

: as ed approximat be can speed and

;
: is current (DC) Armature
1
: state steady at voltage armature The
, 0 For
0
i
a
v
a
t
on
T
i
a
Torque ( i
a
)
a)
Q4 Q1
Q2
Q3
(v
a
)
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
29
2 Quadrant DC drives
FORWARD MOTORING (T1 and D2 operate)
T1 on: The supply is connected to motor terminal.
T1 off: The armature current freewheels through
D2.
Va (hence speed) is determined by the duty ratio.
REGENERATION (T2 and D1 operate)
T2 on: motor acts as a generator
T2 off:, the motor acting as a generator returns
energy to the supply through D2.
Q1
Q2
Q3
Q4
Torque

+
v
a

T2
D2
D1
T1
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
30
4 Quadrant DC drives
A full-bridge DC-DC converter is used.
+ v
a

T1 T3
T2
T4
D1
D4
D3
D2
Q1
Q2
Q3
Q4
Torque

Power Electronics and

Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
31
4-quadrant: Forward motoring
T1 and T2 operate; T3 and T4 off.
T1 and T2 turn on together: the supply voltage appear
across the motor terminal. Armature current rises.
T1 and T2 turn off: the armature current decay through
D3 and D4
+ v
a

T1 T3
T2
T4
D1
D4
D3
D2
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
32
Regeneration
T1, T2 and T3 turned off.
When T4 is turned on, the armature current rises
through T4 and D2.
When T4 is turned off, the motor, acting as a generator,
returns energy to the supply through D1 and D2.
+ v
a

T1 T3
T2
T4
D1
D4
D3
D2
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
33
Reverse motoring
T3 and T3 operate; T1 and T2 off.
When T3 and T4 are on together, the armature current
rises and flows in reverse direction.
Hence the motor rotates in reverse direction.
When T3 and T4 turn off, the armature current decays
through D1 and D2.
+ v
a

T1 T3
T2
T4
D1
D4
D3
D2
Power Electronics and
Drives (Version 3-2003):
Dr. Zainal Salam, UTMJB
34
Reverse generation
T1, T3 and T4 are off.
When T1 is on, the armature current rises through T2
and D4.
When Q2 is turned off, the armature current falls and
the motor returns energy to the supply through D3 and
D4.
+ v
a

T1 T3
T2
T4
D1
D4
D3
D2