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Dr.
Chapter Four
113
Contents
1
Chapter 1
Introduction
1.1. Definition Of Power Electronics
1.2
1.3
Rectification
1.4
DC-To-AC Conversion
1.5
DC-to-DC Conversion
1.6
AC-TO-AC Conversion
1.7
1.8
Harmonics
1.9
12
Chapter 2
17
2.2
2.3
2.4
2.5
2.6
17
29
35
40
49
56
Fourier Series
114
59
Chapter 3
3.1
Introduction
3.2
3.3
3.4
3.5
3.6
3.7
Chapter 4
60
73
91
95
98
100
112
Fourier Series
4-1
Introduction
4-2
4-3
112
113
119
Chapter 1
Introduction
2 Chapter One
Introduction
4 Chapter One
kHz, using a proper core to limit the losses in the core, and shielding the
inductor properly so that the fringing that occurs at the air-gaps in the
magnetic path does not lead to electromagnetic interference. Usually the
capacitors used in a power electronic application are also stressed. It is
typical for a capacitor to be operated at a high frequency with current
surges passing through it periodically. This means that the current rating
of the capacitor at the operating frequency should be checked before its
use. In addition, it may be preferable if the capacitor has self-healing
property. Hence an inductor or a capacitor has to be selected or designed
with care, taking into account the operating conditions, before its use in a
power electronic circuit.
In many power electronic circuits, diodes play a crucial role. A normal
power diode is usually designed to be operated at 400 Hz or less. Many of
the inverter and switch-mode power supply circuits operate at a much
higher frequency and these circuits need diodes that turn ON and OFF
fast. In addition, it is also desired that the turning-off process of a diode
should not create undesirable electrical transients in the circuit. Since
there are several types of diodes available, selection of a proper diode is
very important for reliable operation of a circuit.
Analysis of power electronic circuits tends to be quite complicated,
because these circuits rarely operate in steady state. Traditionally steadystate response refers to the state of a circuit characterized by either a DC
response or a sinusoidal response. Most of the power electronic circuits
have a periodic response, but this response is not usually sinusoidal.
Typically, the repetitive or the periodic response contains both a steadystate part due to the forcing function and a transient part due to the poles
of the network. Since the responses are non-sinusoidal, harmonic analysis
is often necessary. In order to obtain the time response, it may be
necessary to resort to the use of a computer program.
Power electronics is a subject of interdisciplinary nature. To design and
build control circuitry of a power electronic application, one needs
knowledge of several areas, which are listed below.
Design of analogue and digital electronic circuits, to build the
control circuitry.
Microcontrollers and digital signal processors for use in
sophisticated applications.
Many power electronic circuits have an electrical machine as
their load. In AC variable speed drive, it may be a reluctance
Introduction
6 Chapter One
Introduction
8 Chapter One
where a n =
and bn =
f (t ) cos (nt ) dt
(1.2)
f (t ) sin (nt ) dt
(1.3)
a n2 + bn2
2
e j n
(1.5)
bn
(1.6)
an
The amount of distortion in the voltage or current waveform is
qualified by means of an Total Harmonic Distortion (THD). The THD in
current and voltage are given as shown in (1.7) and (1.8) respectively.
Where n = tan 1
THDi = 100 *
THDv = 100 *
I s2
I s21
I s1
Vs2 Vs21
Vs1
I sn2
= 100 *
nn
(1.7)
I s1
Vsn2
= 100 *
nn
(1.8)
Vs1
23 n<35
35 n<
TDD
<20
20<50
50<100
100<1000
>1000
0.6
1.0
1.5
2.0
2.5
0.3
0.5
0.7
1.0
1.4
5.0
8.0
12.0
15.0
20.0
4.0
7.0
10.0
12.0
15.0
2.0
3.5
4.5
5.5
7.0
1.5
2.5
4.0
5.0
6.0
Introduction
100
I ML
I n2 ,
n=2
THDv (%)
69 kV and blow
69.001 kV through 161kV
161.001kV and above
3.0
1.5
1
5.0
2.5
1.5
1.8.1 Diodes
A sketch of a PN junction diode characteristic is drawn in Fig.1.1. The
icon used to represent the diode is drawn in the upper left corner of the
figure, together with the polarity markings used in describing the
characteristics. The icon 'arrow' itself suggests an intrinsic polarity
reflecting the inherent nonlinearity of the diode characteristic.
Fig.1.1 shows the i-v characteristics of the silicon diode and
germanium diode. As shown in the figure the diode characteristics have
been divided into three ranges of operation for purposes of description.
Diodes operate in the forward- and reverse-bias ranges. Forward bias is a
range of 'easy' conduction, i.e., after a small threshold voltage level (
0.7 volts for silicon) is reached a small voltage change produces a large
current change. In this case the diode is forward bias or in "ON" state.
The 'breakdown' range on the left side of the figure happened when the
reverse applied voltage exceeds the maximum limit that the diode can
withstand. At this range the diode destroyed.
10 Chapter One
On the other hand if the polarity of the voltage is reversed the current
flows in the reverse direction and the diode operates in 'reverse' bias or in
"OFF" state. The theoretical reverse bias current is very small.
In practice, while the diode conducts, a small voltage drop appears
across its terminals. However, the voltage drop is about 0.7 V for silicon
diodes and 0.3 V for germanium diodes, so it can be neglected in most
electronic circuits because this voltage drop is small with respect to other
circuit voltages. So, a perfect diode behaves like normally closed switch
when it is forward bias (as soon as its anode voltage is slightly positive
than cathode voltage) and open switch when it is in reverse biased (as
soon as its cathode voltage is slightly positive than anode voltage). There
are two important characteristics have to be taken into account in
choosing diode. These two characteristics are:
Peak Inverse voltage (PIV): Is the maximum voltage that a diode
can withstand only so much voltage before it breaks down. So if
the PIV is exceeded than the PIV rated for the diode, then the
diode will conduct in both forward and reverse bias and the diode
will be immediately destroyed.
Maximum Average Current: Is the average current that the diode
can carry.
It is convenient for simplicity in discussion and quite useful in making
estimates of circuit behavior ( rather good estimates if done with care and
understanding) to linearize the diode characteristics as indicated in
Fig.1.2. Instead of a very small reverse-bias current the idealized model
approximates this current as zero. ( The practical measure of the
appropriateness of this approximation is whether the small reverse bias
current causes negligible voltage drops in the circuit in which the diode is
embedded. If so the value of the reverse-bias current really does not enter
into calculations significantly and can be ignored.) Furthermore the zero
Introduction
11
1.8.2 Thyristor
The thyristor is the most important type of the power semiconductor
devices. They are used in very large scale in power electronic circuits.
The thyristor are known also as Silicon Controlled Rectifier (SCR). The
thyristor has been invented in 1957 by general electric company in USA.
The thyristor consists of four layers of semiconductor materials (p-n-pn) all brought together to form only one unit. Fig.1.2 shows the schematic
diagram of this device and its symbolic representation. The thyristor has
three terminals, anode A, cathode K and gate G as shown in Fig.1.2.The
anode and cathode are connected to main power circuit. The gate terminal
is connected to control circuit to carry low current in the direction from
gate to cathode.
12 Chapter One
Introduction
13
In the next items we will talk only about the most famous two types :-
14 Chapter One
Introduction
15
DIAC
DIAC is like a TRIAC without a gate terminal. DIAC conducts current
in both directions depending on the voltage connected to its terminals.
When the voltage between the two terminals greater than the break down
voltage, the DIAC conducts and the current goes in the direction from the
higher voltage point to the lower voltage one. The following figure shows
the layers construction, electric circuit symbol and the operating
characteristics of the DIAC. Fig.1.7 shows the DIAC construction and
electric symbol. Fig.1.8 shows a DIAC v-i characteristics.
The DIAC used in firing circuits of thyristors since its breakdown
voltage used to determine the firing angle of the thyristor.
16 Chapter One
npn
pnp
Fig.1.9 The electric symbol of npn and pnp transistors.
Introduction
17
Fig.1.10 shows the direction of currents in the NPN and PNP transistors.
It is clear that the emitter current direction takes the same direction as on
the electric symbol of BJT transistor and both gate and collector take the
opposite direction.
The relation between the collector current and base current known as a
current gain of the transistor as shown in ( )
I
= C
IB
Current and voltage analysis of NPN transistors is shown if Fig.1.11. It is
clear from Fig.1.11 that:
V Rb = V BB V BE = I B * R B
Then, the base current can be obtained as shown in the following
equation:
V V BE
I B = BB
RB
18 Chapter One
VCE = VCC I C * RC
Fig.1.12 shows the collector characteristics of NPN transistor for
different base currents. This figure shows that four regions, saturation,
linear, break down, and, cut-off regions. The explanation of each region
in this figure is shown in the following points:
Increasing of VCC increases the voltage VCE gradually as shown in the
saturation region.
When VCE become more than 0.7 V, the base to collector junction
become reverse bias and the transistor moves to linear region. In linear
region I C approximately constant for the same amount of base current
when VCE increases.
When VCE become higher than the rated limits, the transistor goes to
break down region.
At zero base current, the transistor works in cut-off region and there is
only very small collector leakage current.
Introduction
19
them, is its very high switching speed. So, it is used in the circuit that
requires high turning ON and OFF speed that may be greater than
100kHz. This switch is more expensive than any other switches have the
same ratings. The power MOSFET has three terminals source, drain and
gate. Fig.1.13 shows the electric symbol and static characteristics of the
power MOSFET.
20 Chapter One
Introduction
21
Chapter 2
23
between the rectifier output and the load that filters out the undesired
component and allows useful components to go through. So, careful
analysis has to be done before building the rectifier. The analysis requires
define the following terms:
The average value of the output voltage, Vdc ,
The average value of the output current, I dc ,
The rms value of the output voltage, Vrms ,
The rms value of the output current, I rms
The output DC power, Pdc = Vdc * I dc
(2.1)
The output AC power, Pac = Vrms * I rms
(2.2)
P
The effeciency or rectification ratio is defiend as = dc
(2.3)
Pac
The output voltage can be considered as being composed of two
components (1) the DC component and (2) the AC component or ripple.
The effective (rms) value of the AC component of output voltage is
defined as:2
2
(2.4)
Vac = Vrms
Vdc
The form factor, which is the measure of the shape of output voltage, is
defiend as shown in equation (2.5). Form factor should be greater than or
equal to one. The shape of output voltage waveform is neare to be DC as
the form factor tends to unity.
V
(2.5)
FF = rms
Vdc
The ripple factor which is a measure of the ripple content, is defiend as
shown in (2.6). Ripple factor should be greater than or equal to zero. The
shape of output voltage waveform is neare to be DC as the ripple factor
tends to zero.
2
2
2
Vrms
Vdc
Vac
Vrms
=
=
1 = FF 2 1
2
Vdc
Vdc
Vdc
The Transformer Utilization Factor (TUF) is defiend as:P
TUF = dc
VS I S
RF =
(2.6)
(2.7)
24 Chapter Two
Where VS and I S are the rms voltage and rms current of the
transformer secondery respectively.
Total Harmonic Distortion (THD) measures the shape of supply
current or voltage. THD should be grearter than or equal to zero. The
shape of supply current or voltage waveform is near to be sinewave as
THD tends to be zero. THD of input current and voltage are defiend as
shown in (2.8.a) and (2.8.b) respectively.
THDi =
THDv =
I S2 I S21
I S21
VS2 VS21
I S21
(2.8.a)
VS2
1
(2.8.b)
VS21
VS21
where I S1 and VS1 are the fundamental component of the input current
and voltage, I S and VS respectively.
Creast Factor CF, which is a measure of the peak input current IS(peak)
as compared to its rms value IS, is defiend as:I S ( peak )
(2.9)
CF =
IS
In general, power factor in non-sinusoidal circuits can be obtained as
following:
Real Power
P
PF =
=
= cos
(2.10)
Apparent Voltamperes VS I S
Where, is the angle between the current and voltage. Definition is
true irrespective for any sinusoidal waveform. But, in case of sinusoidal
voltage (at supply) but non-sinusoidal current, the power factor can be
calculated as the following:
Average power is obtained by combining in-phase voltage and current
components of the same frequency.
P
V I1 cos 1 I S1
PF =
=
=
cos = Distortion Factor * Displaceme nt Faactor (2.11)
VS I S
VS I S
I S2
IS
25
Vdc
V
1
Vm sin t dt = m
=
2
(2.12)
Vrms =
V
1
Vm2 sin 2 t dt = m
2
2
(2.14)
Similarly, the root mean square (rms) value of a load current is defined
as:
V
V
I rms = rms = m
(2.15)
R
2R
26 Chapter Two
Fig.2.2 Various waveforms for half wave diode rectifier with resistive load.
27
Vdc
V
V
1
=
Vm sin(t ) dt = m ( cos cos(0)) = m
2
2
Then, I dc =
Vdc Vm
=
R R
Vrms
V
1
(Vm sin t ) 2 = m ,
=
2
2
I rms =
V
Vm
and, VS = m
2R
2
The rms value of the transformer secondery current is the same as that of
V
the load: I S = m Then, the efficiency or rectification ratio is:
2R
Vm Vm
*
Pdc
Vdc * I dc
R
=
= 40.53%
=
=
Vm Vm
Pac Vrms * I rms
*
2 2R
Vm
V
Vac
= FF 2 1 = 1.57 2 1 = 1.211
Vdc
Vm Vm
P
R
(d) TUF = dc =
= 0.286 = 28.6%
Vm Vm
VS I S
2 2R
(e) It is clear from Fig2.2 that the PIV is Vm .
I S ( peak ) Vm / R
(f) Creast Factor CF, CF =
=
=2
IS
Vm / 2 R
(c) RF =
28 Chapter Two
i (t ) = e
R
dt
L
R
dt
L
Vm
*
sin t dt + A
L
Where A is a constant.
R
R
t
t V
L
e L * m sin t dt + A
Then; i (t ) = e
L
i (t ) =
Vm
R 2 + w 2 L2
(R sin t L cost ) +
R
t
Ae L
29
(2.19)
(2.20)
(2.21)
Fig.2.4 Various waveforms for Half wave diode rectifier with R-L load.
30 Chapter Two
Assume Z = R + j wL
Then Z 2 = R 2 + w2 L2 ,
R = Z cos , L = Z sin and tan =
wL
R
Substitute these values into (2.21) we get the following equation:
t
V
i (t ) = m (cos sin t sin cost ) + Ae L
Z
R
t
V
Then, i (t ) = m sin (t ) + Ae L
Z
The above equation can be written in the following form:
(2.22)
V
V
i (t ) = m sin (t ) + Ae L = m sin (t ) + Ae tan (2.23)
Z
Z
The value of A can be obtained using the initial condition. Since the
diode starts conducting at t = 0 and the current starts building up from
zero, i (0 ) = 0 (discontinuous conduction). The value of A is expressed by
the following equation:
V
A = m sin ( )
Z
Once the value of A is known, the expression for current is known. After
evaluating A, current can be evaluated at different values of t .
t
Vm
(2.24)
i (t ) =
sin (t ) + sin ( )e tan
Vm
i( ) =
sin ( ) + sin ( )e tan
=0
(2.25)
31
The value of can be obtained from the above equation by using the
methods of numerical analysis. Then, an expression for the average
output voltage can be obtained. Since the average voltage across the
inductor has to be zero, the average voltage across the resistor and the
average voltage at the cathode of the diode to ground are the same. This
average value can be obtained as shown in (2.26). The rms output voltage
in this case is shown in equation (2.27).
Vdc
V
V
= m * sin t dt = m * (1 cos )
2
2
(2.26)
Vrms
1
Vm
=
* (Vm sin t ) 2 dwt =
* + 0.5(1 sin( 2 )
2
2
(2.27)
32 Chapter Two
When the current through the inductor tends to fall (when the supply
voltage become negative), the voltage across the inductor become
negative and its voltage tends to forward bias diode D2 even when the
source voltage vs is positive, the inductor current would tend to fall if the
source voltage is less than the voltage drop across the load resistor.
During the negative half-cycle of source voltage, diode D1 blocks
conduction and diode D2 is forced to conduct. Since diode D2 allows the
inductor current circulate through L, R and D2, diode D2 is called the
free-wheeling diode because the current free-wheels through D2.
Fig.2.6 shows various voltage waveforms of diode rectifier with freewheeling diode. Fig.2.7 shows various current waveforms of diode
rectifier with free-wheeling diode.
It can be assumed that the load current flows all the time. In other
words, the load current is continuous. When diode D1 conducts, the
driving function for the differential equation is the sinusoidal function
defining the source voltage. During the period defined by < t < 2,
diode D1 blocks current and acts as an open switch. On the other hand,
diode D2 conducts during this period, the driving function can be set to
be zero volts. For 0 < t < , the differential equation (2.18) applies. The
solution of this equation will be as obtained before in (2.20) or (2.23).
t
Vm
tan
i (t ) =
sin (t ) + sin ( ) e
0 < t <
(2.28)
di
+ R* i = 0
dt
(2.29)
t
tan
i (t ) = B e
(2.30)
The constant B can be obtained from the boundary condition where
i ( ) = B is the starting value of the current in < t < 2 and can be
obtained from equation (2.23) by substituting t =
V
Then, i( ) = m (sin( ) + sin ( ) e tan ) = B
Z
33
Vm
tan
tan
(
)
(
)
for < t < 2
(2.31)
i (t ) =
sin
sin
e
e
34 Chapter Two
For the period 2 < t < 3 the value of i (2 ) from (2.31) can be
used as initial condition for that period. The differential equation
representing this period is the same as equation (2.28) by replacing t by
t 2 and the solution is given by equation (2.32). This period
( 2 < t < 3 ) differ than the period 0 < wt < in the way to get the
constant A where in the 0 < t < the initial value was i (0) = 0 but in
the case of 2 < t < 3 the initial condition will be i (2 ) that given
from (2.31) and is shown in (2.33).
t 2
V
(2.32)
i (t ) = m sin (t 2 ) + Ae tan for 2 < t < 3
Z
The value of i (2 ) can be obtained from (2.31) and (2.32) as shown
in (2.33) and (2.34) respectively.
Vm
tan
tan
(2.33)
sin ( ) + sin ( ) e
i (2 ) =
e
Z
V
i (2 ) = m sin ( ) + A
(2.34)
Z
By equating (2.33) and (2.34) the constant A in 2 < t < 3 can be
obtained from the following equation:
V
A = i (2 ) + m sin ( )
(2.35)
Z
Then, the general solution for the period 2 < t < 3 is given by
equation (2.36):
i (t ) =
Vm
V
sin (t 2 ) + i(2 ) + m sin ( )e
Z
Z
t 2
tan
35
Solution: (a) For the period of 0 < t < , the expression of the load
current can be obtained from (2.24) as following:
3
1 L
1 314 * 20 *10
= tan
= 0.561 rad . and tan = 0.628343
= tan
R
10
Z = R 2 + (L) 2 = 10 2 + (314 * 20 *10 3 ) 2 = 11.8084
t
Vm
tan
i (t ) =
sin (t ) + sin ( ) e
Z
220 2
sin (t 0.561) + 0.532 * e 1.5915 t
11.8084
i (t ) = 26.3479 sin (t 0.561) + 14.0171* e 1.5915 t
The value of can be obtained from the above equation by substituting
for i ( ) = 0 . Then, 0 = 26.3479 sin ( 0.561) + 14.0171 * e 1.5915
By using the numerical analysis we can get the value of . The
simplest method is by using the simple iteration technique by assuming
= 26.3479 sin ( 0.561) + 14.0171 * e 1.5915 and substitute different
values for in the region < < 2 till we get the minimum value of
then the corresponding value of is the required value. The narrow
intervals mean an accurate values of . The following table shows the
relation between and :
6.49518
1.1
4.87278
1.12
3.23186
1.14
1.57885
1.16
-0.079808
1.18
-1.73761
1.2
It is clear from the above table that 1.18 rad. The current in
< wt < 2 will be zero due to the diode will block the negative current
to flow.
(b) In case of free-wheeling diode as shown in Fig.2.5, we have to divide
the operation of this circuit into three parts. The first one when
=
36 Chapter Two
0 < t < (D1 ON, D2 OFF), the second case when < t < 2
(D1 OFF and D2 ON) and the last one when 2 < t < 3 (D1
ON, D2 OFF).
In the first part ( 0 < t < ) the expression for the load current
can be obtained as In case (a). Then:
i ( wt ) = 26.3479 sin (t 0.561) + 14.0171 * e 1.5915 wt
for 0 < t <
the current at t = is starting value for the current in the next part.
Then
i ( ) = 26.3479 sin ( 0.561) + 14.0171 * e 1.5915 = 14.1124 A
In the second part < t < 2 , the expression for the load current
can be obtained from (2.30) as following:
t
tan
i (t ) = B e
where B = i ( ) = 14.1124 A
V
V
i (t ) = m sin (t 2 ) + i (2 ) + m sin ( )e
Z
Z
t 2
tan
for
37
Advantages
The need for center-tapped transformer is eliminated,
The output is twice that of the center tapped circuit for the same
secondary voltage, and,
The peak inverse voltage is one half of the center-tap circuit.
Disadvantages
It requires four diodes instead of two, in full wave circuit, and,
There are always two diodes in series are conducting. Therefore,
total voltage drop in the internal resistance of the diodes and losses
are increased.
The following sections explain and analyze these rectifiers.
2.4.1 Center-Tap Diode Rectifier With Resistive Load
In the center tap full wave rectifier, current flows through the load in
the same direction for both half cycles of input AC voltage. The circuit
shown in Fig.2.8 has two diodes D1 and D2 and a center tapped
transformer. The diode D1 is forward bias ON and diode D2 is reverse
bias OFF in the positive half cycle of input voltage and current flows
from point a to point b. Whereas in the negative half cycle the diode D1
is reverse bias OFF and diode D2 is forward bias ON and again
current flows from point a to point b. Hence DC output is obtained across
the load.
38 Chapter Two
Vdc =
V sin t dt =
m
0
I dc =
2 Vm
(2.36)
2 Vm
R
Vrms =
(2.37)
(V sin t )
m
1
d t =
Vm
2
(2.38)
Vm
(2.39)
2 R
(2.40)
PIV of each diode = 2Vm
V
VS = m
(2.41)
2
The rms value of the transformer secondery current is the same as that of
the diode:
V
IS = ID = m
(2.41)
2R
I rms =
Fig.2.9 Various current and voltage waveforms for center-tap diode rectifier
with resistive load.
39
R
=
=
= 81.05%
=
Vm
Vm
Pac Vrms * I rms
*
2
2R
Vm
V
2 = = 1.11
(b) FF = rms =
2 Vm 2 2
Vdc
Vac
= FF 2 1 = 1.112 1 = 0.483
Vdc
2 Vm 2 Vm
Pdc
R
=
= 0.5732
(d) TUF =
V V
2 VS I S
2 m m
2 2R
(e) The PIV is 2Vm
(c) RF =
I S ( peak )
IS
Vm
= R =2
Vm
2R
40 Chapter Two
Fig.2.11 Various current and voltage waveform for Center-tap diode rectifier
with R-L load
t
Vm
(2.44)
i (t ) =
sin (t ) + sin ( )e tan for 0 < t <
In the second half cycle the same differential equation (2.43) and the
solution of this equation will be as obtained before in (2.22)
41
V
(2.45)
i (t ) = m sin (t ) + Ae tan
Z
The value of constant A can be obtained from initial condition. If we
assume that i()=i(2)=i(3)=..=Io
(2.46)
Then the value of I o can be obtained from (2.44) by letting t =
Vm
(2.47)
I o = i ( ) =
sin ( ) + sin ( )e tan
V
i ( ) = I o = m sin ( ) + Ae tan
Z
V
Then; A = I o + m sin ( )
Z
Substitute (2.48) into (2.45) we get:
(2.48)
t
V
V
t
t
Vm
tan
i (t ) =
sin (t ) + sin ( )e
+ I e tan
o
Z
In the next half cycle 2 < t < 3 the current will be same as
obtained in (2.49) but we have to take the time shift into account where
the new equation will be as shown in the following:
t 2
Vm
i (t ) =
sin (wt 2 ) + sin ( )e tan
Z
t 2
+ I e tan
o
42 Chapter Two
43
V sin t dt =
m
0
2 Vm
= 190.956 V , I dc =
2 Vm
= 12.7324 A
R
1/ 2
Vrms
1
(Vm sin t )2 dt
=
V
Vm
= 212.132 V , I rms = m = 14.142 A
2R
2
Pdc
V I
= dc dc = 81.06 %
Pac Vrms I rms
V
(b) FF = rms = 1.11
Vdc
(a) =
(c) RF =
2
2
2
Vrms
Vdc
Vac
Vrms
=
=
1 = FF 2 1 = 0.482
2
Vdc
Vdc
Vdc
Pdc
190.986 *12.7324
=
= 81 %
VS I S
212.132 * 14.142
(e) The PIV= Vm =300V
(d) TUF =
(f) CF =
I S ( peak )
IS
300 / 15
= 1.414
14.142
I2 *R
Re al Power
= rms
=1
Apperant Power
VS I S
44 Chapter Two
Fig.2.15 Various current and voltage waveforms for full bridge single-phase
diode rectifier with DC load current.
I o * sin nt dt
2 Io
[ cos nt ]0
n
(2.51)
2 Io
[cos 0 cos n ] = 4 I o for n = 1, 3, 5, .............
n
n
4 Io
1
1
1
1
* (sin t + sin 3t + sin 5t + sin 7t + sin 9t + ..........) (2.52)
3
5
7
9
45
1 1 1 1 1 1 1
THD( I s (t )) = + + + + + + = 46%
3 5 7 9 11 13 15
4 Io
2
2
IS
Io
1 =
THD ( I s (t )) =
1 =
4 Io
I S1
1 = 48.34%
(c) RF =
2
2
2
Vrms
Vdc
Vac
Vrms
=
=
1 = FF 2 1 = 0.482
2
Vdc
Vdc
Vdc
Pdc
190.986 *30
=
= 90 %
VS I S 212.132 * 30
(e) The PIV=Vm=300V
(d) TUF =
I
30
(f) CF = S ( peak ) =
=1
30
IS
4 Io
4 * 30
=
= 27.01A
2
2
Re al Power
Input Power factor=
=
Apperant Power
(g) I S1 =
VS I S1 * cos
I * cos
27.01
= S1
=
*1 = 0.9 Lag
VS I S
IS
30
46 Chapter Two
Fig.2.16 Various current and voltage waveforms for single-phase diode bridge
rectifier with source inductance.
47
Io
Vm sin t dt = Ls diS
Io
(2.55)
48 Chapter Two
Then; cos(u ) = 1
2Ls I o
Vm
2Ls I o
Then; u = cos 1 1
(2.56)
Vm
2Ls I o
u 1
(2.57)
And t = = cos 1 1
V
m
Then
vrd d t = LS diS = 2 LS I o
+u
Io
vrd d t
(2.59)
Io
vrd d t = 4 LS I o
(2.60)
To obtain the rms value and Fourier transform of the supply current it
is better to move the vertical axis to make the waveform odd or even this
will greatly simplfy the analysis. So, it is better to move the vertical axis
of supply current by u / 2 as shown in Fig.2.18. Moveing the vertical axis
will not change the last results. If you did not bleave me keep going in the
analysis without moveing the axis.
49
Fig. 2.18 The old axis and new axis for supply currents.
Fig.2.19 shows a symple drawing for the supply current. This drawing
help us in getting the rms valuof the supply current. It is clear from the
waveform of supply current shown in Fig.2.19 that we obtain the rms
value for only a quarter of the waveform because all for quarter will be
the same when we squaret the waveform as shown in the following
equation:
Is =
u/2
2
2I o
t dt + I o2 dt ]
u/2
2 I o2 4 u 3 u
+ =
3u 2 8 2 2
Then; I s =
Is
(2.63)
2 I o2 u
2 3
Io
u
2
u
2
(2.64)
u
2
u
2
Io
2
Fig.2.19 Supply current waveform
50 Chapter Two
To obtain the Fourier transform for the supply current waveform you
can go with the classic fourier technique. But there is a nice and easy
method to obtain Fourier transform of such complcated waveform known
as jump technique [ ]. In this technique we have to draw the wave form
and its drevatives till the last drivative values all zeros. Then record the
jump value and its place for each drivative in a table like the table shown
below. Then; substitute the table values in (2.65) as following:
Is
Io
u
2
Io
u
+
2
u
2
u
2
I s
2Io
u
u
2
2I o
u
u
2
u
2
u
2
Js
Is
0
2Io
u
I s
u
2
u
2
0
u
2
0
2I o
u
2Io
u
+
0
2I o
u
u
2
51
m
1 m
(2.65)
J
cos
n
t
J s sin nt s
s
s
n s =1
s =1
1 1 2I o
u
u
u
u
bn =
sin n sin n sin n + sin n +
*
n n
u
2
2
2
2
8I
nu
bn = 2 o * sin
(2.66)
2
n u
8I
u
b1 = o * sin
(2.67)
u
2
8I o
u
(2.68)
Then; I S1 =
* sin
2
2 u
8I o
u
* sin
2
I
2 u
u
u
pf = S1 * cos =
cos
IS
2
2
2 I o2 u
2 3
(2.69)
u
u
4 sin cos
2 2 = 2 sin (u )
=
u
u
u
u
2 3
2 3
bn =
1
n
Vdc actual =
2 *15556
52 Chapter Two
2Ls I o
2 * 2 * * 50 * 0.005 * 200
= cos 1 1
u = cos 1 1
= 0.285 rad .
Vm
15556
u 0.285
3
2 3
2
2 I o2 u
2 * 200 2 0.285
=
2 3 = 193.85 A
2 3
8I o
u
8 * 200
0.285
* sin =
* sin
I S1 =
= 179.46 A
2
2 u
2 * 0.285
2
IS =
2
IS
193.85
THDi =
1 = 179.46 1 = 40.84%
I S1
Fig.2.21 Half wave three-phase diode rectifier circuit with delta star three-phase
transformer.
53
For the rectifier shown in Fig.2.21 the load voltage, primary diode
currents and its FFT components are shown in Fig.2.22, Fig.2.23 and
Fig.2.24 respectively.
5
6
Fig.2.22 Secondary and load voltages of half wave three-phase diode rectifier.
54 Chapter Two
Primary current
Diode current
I dc =
Vrms
3
2
5 / 6
Vm sin t dt =
/6
3 3 Vm
= 0.827Vm
2
3 3 Vm 0.827 * Vm
=
R
2 * * R
3
=
2
5 / 6
(Vm sin t )
/6
dt =
(2.70)
(2.71)
1 3* 3
+
Vm = 0.8407 Vm (2.72)
2 8
0.8407 Vm
(2.73)
I rms =
R
Then the diode rms current is equal to secondery current and can be
obtaiend as following:
Vm
08407 Vm
(2.74)
Ir = IS =
= 0.4854
R
R 3
Note that the rms value of diode current has been obtained from the
rms value of load current divided by 3 because the diode current has
one third pulse of similar three pulses in load current.
(2.75)
ThePIV of the diodes is 2 VLL = 3 Vm
55
(c) RF =
(d) I S =
TUF =
2
2
2
Vdc
Vrms
Vac
Vrms
=
=
1 = FF 2 1 = 18.28 %
2
Vdc
Vdc
Vdc
0.8407 Vm
1
I rms =
3
3 R
Pdc
=
3 * VS I S
(0.827Vm ) 2 / R
= 66.424 %
0.8407 Vm
3 * Vm / 2 *
3R
56 Chapter Two
/3
I o dt = 3o
/ 3
/3
I o * cos nt dwt
/ 3
I
= o [sin nt ] //33
n
Io
=
* 3 for n = 1,2,7,8,13,14,....
n
I
= o * 3 for n = 4,5,10,11,16,17
n
= 0 for all treplean harmonics
I s (t ) =
(2.76)
IO
3I O
+
3
(2.77)
1
1
1
1
1
57
New axis
58 Chapter Two
2
I
THD( I s (t )) = S
I S1
Io / 3
1 =
1 =
3
I
O
2 * 2
1 = 1.0924 = 109.24%
9
It is clear that the primary current shown in Fig.2.26 is odd, then, an=0,
bn =
2 / 3
I o * sin nt dt
0
2I o
[ cos nt ] 20 / 3
n
3I o
for n = 1,2,4,5,7,8,10,11,13,14,....
n
= 0 for all treplean harmonics
=
iP (t ) =
(2.79)
3I O
1
1
1
1
1
2
Io
3
1 =
(2.81)
2
2
Io
2
3 1 = 2 1 = 67.983% (2.82)
3I O
3 3
59
1
1
I rms =
*100 = 57.735 A
3
3
Pdc
310.613 * 100
=
= 67.52 %
TUF =
3 * VS I S 3 * Vm / 2 * 57.735
(d) I S =
I S ( peak )
IS
100
= 1.732
57.735
Fig.2.27 Three-phase half wave rectifier with load and source inductance.
60 Chapter Two
Fig.2.28 Supply current and output voltage for three-phase half wave
rectifier with pure DC load and source inductance.
Fig.2.29 The equivalent circuit for three-phase half wave diode rectifier in
commutation period.
(2.83)
(2.84)
61
di
di
va vb + L D 2 D1 = 0
dt
dt
Multiply the above equation by dt the following equation can be
obtained: (va vb )dt + L(diD 2 diD1 ) = 0
substitute the voltage waveforms of va and vb into the above equation
2
Then;
3 Vm sin t + dt = L(diD1 diD 2 )
6
5
6
Then;
Then;
Io
0
0
o
5
5
3 Vm cos
+ u + = 2LI o
+ cos
6
6
6 6
3 Vm (cos( ) cos( + u )) = 2LI o
3 Vm ( 1 + cos(u )) = 2LI o
2LI o
Then; 1 cos(u ) =
3 Vm
2LI o
Then; cos(u ) = 1
3 Vm
Then;
2LI o
(2.85)
Then u = cos 1 1
3 Vm
2LI o
u 1
t = = cos 1 1
(2.86)
3 Vm
62 Chapter Two
5
+u
6
Io
vrd dt = L diD = LI o
Then,
5
6
5
+u
6
vrd dt
(2.87)
5
6
3*
vrd dt = 3LI o
5
6
Vdc
Actual
3 3 Vm
3 f L Io
2
(2.90)
Vdc
Actual
3 3 Vm
3 * 3 * 53889
3 f L Io =
3 * 50 * 0.005 * 500 = 44190V
2
2
63
I dc =
2 / 3
3 Vm sin t dt =
3 3 Vm
/3
3 2 VLL
Vrms =
I rms =
2 / 3
3 Vm sin t
)2 dt =
/3
1.6554 Vm
R
(2.92)
3 9* 3
+
Vm = 1.6554 Vm = 1.3516VLL (2.93)
2
4
(2.94)
1.6554 Vm
Vm
= 0.9667
R
R 3
I S = 0.9667
Vm
R
(2.95)
(2.96)
64 Chapter Two
IL
Ip
Is
VL
a
b
c
4
Fig.2.31 shows complete waveforms for phase and line to line input voltages
and output DC load voltages.
65
66 Chapter Two
I dc =
3 3 Vm 1.654Vm
=
= 31.0613 A
R
R
Vrms =
I rms =
3 9* 3
+
Vm = 1.6554 Vm = 621.752 V ,
2
4
1.6554 Vm
= 31.0876 A
R
67
Pdc
V I
= dc dc = 99.83 %
Pac Vrms I rms
V
(b) FF = rms = 100.08 %
Vdc
2
2
2
Vrms
Vdc
Vac
Vrms
(c) RF =
=
=
1 = FF 2 1 = 4 %
2
Vdc
Vdc
Vdc
1.6554 Vm
V
2
= 1.352 m
I rms = 0.8165 *
3
R
R
(d) I S =
TUF =
Pdc
=
3 * VS I S
(1.654Vm ) 2 / R
V
3 * Vm / 2 *1.352 m
R
= 95.42 %
5 / 6
I o * sin nt dt
/6
2 Io
[ cos nt ]5/ 6/ 6
n
2 Io
2 Io
2 Io
3, b5 =
( 3 ), b7 =
( 3 )
b1 =
5
7
2 Io
2 Io
( 3 ), b13 =
( 3 ),.............
b11 =
11
13
bn = 0, for n = 2,3,4,6,8,9,10,12,14,15,.............
=
I s (t ) =
(2.97)
2 3I o
1
1
1
1
68 Chapter Two
2
1 1 1 1 1 1 1 1
THD ( I s (t )) = + + + + + + +
5 7 11 13 17 19 23 25
= 31%
2
2* 3
I o , I S1 =
Io
3
2
I
THD ( I s (t )) = S 1 =
I S1
2/3
2*3/ 2
1 = 31.01%
69
2
bn =
I1 * sin nt dt + 2 I1 * sin nt dt +
I1 * sin nt dt
/3
2 / 3
0
2I
2
(2.99)
= 1 1 cos n + cos n cos n
n
3
3
2 * 3I1
bn =
for n = 1,5,7,11,13,...............
n
bn = 0, for n = 2,3,4,6,8,9,10,12,14,15,.............
I P (t ) =
1
1
1
2 * 3I1
1
1 1 1 1 1 1 1 1
THD ( I P (t )) = + + + + + + +
5 7 11 13 17 19 23 25
= 30%
Power Factor =
I S1
I
* cos(0) = S1
IS
IS
70 Chapter Two
Fig.2.38 The output DC voltage of three-phase full wave rectifier with source
inductance
71
Fig.2.40 The equivalent circuit of the three phase diode bridge at commutation
time t at t = 5ms
72 Chapter Two
Fig.2.41 Simple circuit of the equivalent circuit of the three phase diode bridge
at commutation time t at t = 5ms
diD1
di
Vdc Lc D 2 Vc = 0
dt
dt
(2.102)
diD1
= 0 , substitute this
dt
value in (2.101) and (2.102) we get the following differential equations:
di
(2.103)
Va Vb Lb D 6 = Vdc
dt
di
(2.104)
Va Vc Lc D 2 = Vdc
dt
By equating the left hand side of equation (2.103) and (2.104) we get the
following differential equation:
Va Vb Lb
diD 6
di
= Va Vc Lc D 2
dt
dt
(2.105)
diD 6
di
Lc D 2 = 0
(2.106)
dt
dt
The above equation can be written in the following manner:
(Vb Vc )dt + Lb diD6 Lc diD 2 = 0
(2.107)
(Vb Vc )d t + Lb diD 6 Lc diD 2 = 0
(2.108)
Integrate the above equation during the time t with the help of
Fig.2.39 we can get the limits of integration as shown in the following:
Vb Vc + Lb
/ 2+u
Io
/2
Io
/2
73
2
2
Vm sin t
d t + Lb ( I o ) Lc I o = 0
Vm sin t +
3
3
assume Lb = Lc = LS
/ 2+u
2
2
Vm cos t
= 2 LS I o
+ cos t +
3
3 / 2
2
2
2
2
Vm cos + u
+ cos + u +
+ cos
cos +
3
3
3
3
2
2
2
2
= 2 LS I o
Vm cos u + cos u +
6
6
+ cos
7
cos
= 2 LS I o
3
3
7
7
+
sin (u ) sin
+
cos(u ) cos sin (u ) sin + cos(u ) cos
2
6
6
6
6 2
2 LS I o
Vm
2 LS I o
3
3
cos(u ) 0.5 sin (u )
cos(u ) + 0.5 sin (u ) + 3 =
Vm
2
2
3[1 cos(u )] =
cos(u ) = 1
2 LS I o
Vm
2 LI o
2 LI o
2 LS I o
=1
=1
VLL
3 Vm
2 VLL
2 LS I o
u = cos 1 1
VLL
2 LS I o
u 1
t = = cos 1 1
VLL
(2.109)
(2.110)
inductance is
(2.111)
the resultant
74 Chapter Two
+u
Io
vrd d t = LdiD = LS I o
(2.112)
+u
vrd d t
have six commutation periods t in one period so the total reduction per
period is:
+u
vrd d t = 6 LS I o
(2.113)
Io
Io
2
+u
3
2 u
+
6 2
2
3
+
u
2
3 2
2 Io
t dt + I d2 dt =
Is =
u
0
u
75
2 I o2 1 3 u
u + + u
2
3u
3 2
2 I o2 u
(2.116)
3 6
Fig.2.43 shows the utility line currents and its first derivative that help
us to obtain the Fourier transform of supply current easily. From Fig.2.43
we can fill Table(2.2) as explained before when we study Table (2.1).
Then I S =
Is
Io
11 u
6 2
7 u
6 2
Io
I s
5 u
6 2
u
2
u
Io
u
5 u
6 2
I
o
u
7 u
6 2
11 u
6 2
u
2
Js
Is
I s
6
0
Io
u
u
2
6
0
Io
u
u
2
5 u
6 2
0
Io
u
5 u
+
6 2
0
Io
u
7 u
6 2
0
Io
u
7 u
+
6 2
0
Io
u
11 u
6
2
0
Io
u
11 u
+
6
2
0
Io
u
76 Chapter Two
m
1 m
J
cos
n
t
J s sin nt s
s
s
n s =1
s =1
bn =
1
n
bn =
1 1 Io
u
u
5 u
5 u
+ sin n
+
* sin n sin n + sin n
n n u
6 2
6 2
6 2
6 2
(2.117)
7 u
7 u
11 u
11 u
sin n
+ sin n
+ + sin n
sin n
+
2
2
6 2
6 2
6
6
nu
n
11n
7 n
5n
(2.118)
cos
cos
+ cos
cos
6
6
6
2
6
n u
Then, the utility line current can be obtained as in (2.119).
bn =
2I o
i ( t ) =
* sin
4 3 u
1
1
5u
7u
sin sin (t ) 2 sin sin (5t ) 2 sin sin (7t ) +
u 2
2
2
5
7
(2.119)
+
11u
13u
sin
sin (11t ) + 2 sin
sin (13t ) + +
2
2
11
13
2 6 Io u
sin
2.120)
u
2
The power factor can be calculated from the following equation:
2 6 Io u
sin
I S1
u
u
u
2
cos =
cos
pf =
IS
2
2
2 I o2 u
3 6
Then; I S1 =
Then; pf =
3 * sin (u )
u
u
3 6
(2.121)
77
(ii) The the actual DC voltage can be obtained from (2.115) as following:
Vdc actual = Vdc without sourceinduc tan ce Vrd = 1.35VLL 6 fLI d
Vdcactual =1.35 * 33000 6 * 50 * .008 * 300 = 43830V
(iii) the power factor can be obtained from (2.121) then
3 * sin (u )
3 sin (0.2549 )
pf =
=
= 0.9644 Lagging
0.2549
u
u 0.2549 *
6
3 6
3
(iv) The rms value of supply current can be obtained from (2.116)as
following
2 I d2 u
2 * 300 2 0.2549
=
*
= 239.929 A
3 6
6
3
The rms value of fundamental component of supply current can be
obtained from (2.120) as following:
4 3 Io u
4 3 * 300
0.2549
I S1 =
sin * 2 3 =
* sin
= 233.28 A
u 2
* 0.2549 * 2
2
2
I
u 233.28
0.2549
pf = S1 * cos =
* cos
= 0.9644 Lagging.
Is
2 239.929
2
Is =
2
I
239.929
THDi = S 1 =
1 = 24.05%
233.28
I S1
78 Chapter Two
described above but some will cancel, being equal in amplitude but 180o
out of phase. This happened to 5th and 7th harmonics along with some of
higher order components. An analysis of the waveform shows that the AC
line current can be described by (2.83).
2 3
1
1
1
1
11
13
23
25
1 1 1 1 1 1
THD ( I P (t )) = + + + + +
11 13 23 25 35 35
= 13.5%
As shown in (10) the THDi is about 13.5%. The waveform of utility
line current is shown in Fig.2.34. Higher pulse number like 18-pulse or
24-pulse reduce the THD more and more but its applications very rare. In
all kind of higher pulse number the converter needs special transformer.
Sometimes the transformers required are complex, expensive and it will
not be ready available from manufacturer. It is more economic to connect
the small WTG to utility grid without isolation transformer. The main
idea here is to use a six-pulse bridge directly to electric utility without
transformer. But the THD must be lower than the IEEE-519 1992 limits.
2N :1
a
Vd
a1
b1
c1
b
2 3 N :1
a2
b2
c2
79
80 Chapter Two
Problems
1- Single phase half-wave diode rectifier is connected to 220 V, 50 Hz
supply to feed 5 pure resistor. Draw load voltage and current and
diode voltage drop waveforms along with supply voltage. Then,
calculate (a) The rectfication effeciency. (b) Ripple factor of load
voltage. (c) Transformer Utilization Factor (TUF) (d) Peak Inverse
Voltage (PIV) of the diode. (e) Crest factor of supply current.
2- The load of the rectifier shown in problem 1 is become 5 pure
resistor and 10 mH inductor. Draw the resistor, inductor voltage
drops, and, load current along with supply voltage. Then, find an
expression for the load current and calculate the conduction angle,
. Then, calculate the DC and rms value of load voltage.
3- In the rectifier shown in the following figure assume VS = 220V ,
50Hz, L = 10mH and Ed = 170V . Calculate and plot the current an
the diode voltage drop along with supply voltage, vs .
vL vdiode
i
+
+
vs
Ed
-
4-
6-
7-
8-
910-
11-
12-
81
82 Chapter Two
iS
Vd
VS
f = 50 Hz
200V
120o
60o
120
60o
60o
120
Chapter 3
3.1 Introduction
The controlled rectifier circuit is divided into three main circuits:(1) Power Circuit
This is the circuit contains voltage source, load and switches as
diodes, thyristors or IGBTs.
(2) Control Circuit
This circuit is the circuit, which contains the logic of the firing of
switches that may, contains amplifiers, logic gates and sensors.
(3) Triggering circuit
This circuit lies between the control circuit and power thyristors.
Sometimes this circuit called switch drivers circuit. This circuit
contains buffers, opt coupler or pulse transformers. The main
purpose of this circuit is to separate between the power circuit and
control circuit.
The thyristor is normally switched on by applying a pulse to its gate.
The forward drop voltage is so small with respect to the power circuit
voltage, which can be neglected. When the anode voltage is greater than
the cathode voltage and there is positive pulse applied to its gate, the
thyristor will turn on. The thyristor can be naturally turned off if the
voltage of its anode becomes less than its cathode voltage or it can be
turned off by using commutation circuit. If the voltage of its anode is
become positive again with respect to its cathode voltage the thyristor
will not turn on again until gets a triggering pulse to its gate.
The method of switching off the thyristor is known as Thyristor
commutation. The thyristor can be turned off by reducing its forward
current below its holding current or by applying a reverse voltage across
it. The commutation of thyristor is classified into two types:1- Natural Commutation
If the input voltage is AC, the thyristor current passes through a natural
zero, and a reverse voltage appear across the thyristor, which in turn
automatically turned off the device due to the natural behavior of AC
voltage source. This is known as natural commutation or line
commutation. This type of commutation is applied in AC voltage
81
82 Chapter Three
direction and the SCR blocks conduction. The entire applied voltage now
appears across the SCR. Various voltages and currents waveforms of the
half-wave controlled rectifier with resistive load are shown in Fig.3.2 for
=40o. FFT components for load voltage and current of half wave single
phase controlled rectifier with resistive load at =40o are shown in
Fig.3.3. It is clear from Fig.3.3 that the supply current containes DC
component and all other harmonic components which makes the supply
current highly distorted. For this reason, this converter does not have
acceptable practical applecations.
Fig.3.1 Half wave single phase controlled rectifier with resistive load.
Fig.3.2 Various voltages and currents waveforms for half wave single-phase
controlled rectifier with resistive load at =40o.
83
Fig.3.3 FFT components for load voltage and current of half wave single phase
controlled rectifier with resistive load at =40o.
The average voltage, Vdc , across the resistive load can be obtained by
considering the waveform shown in Fig.3.2.
Vdc
V
V
1
Vm sin(t ) dt = m ( cos + cos( )) = m (1 + cos ) (3.1)
=
2
2
2
1
=
2
(Vm sin( t ))
d t =
Vm
2
1
sin(2 )
+
(3.3)
The rms value of the transformer secondery current is the same as that
of the load:
V
(3.4)
I s = rms
R
84 Chapter Three
Example 1 In the rectifier shown in Fig.3.1 it has a load of R=15 and,
Vs=220 sin 314 t and unity transformer ratio. If it is required to obtain an
average output voltage of 70% of the maximum possible output voltage,
calculate:- (a) The firing angle, , (b) The efficiency, (c) Ripple factor (d)
Transformer utilization factor, (e) Peak inverse voltage (PIV) of the
thyristor and (f) The crest factor of input current.
Solution:
(a) Vdm is the maximum output voltage and can be acheaved when
= 0 , The normalized output voltage is shown in equation (3.3) which is
required to be 70%. Then,
V
Vn = dc = 0.5 (1 + cos ) = 0.7 . Then, =66.42o =1.15925 rad.
Vdm
(b) Vm = 220 V
V
V
49.02
Vdc = 0.7 * Vdm = 0.7 * m = 49.02 V ,
I dc = dc =
= 3.268 A
R
15
Vm 1
sin(2 )
+
,
2
2
o
at =66.42 , Vrms=95.1217 V. Then, Irms=95.1217/15=6.34145 A
V
VS = m = 155.56 V
2
The rms value of the transformer secondery current is:
I S = I rms = 6.34145 A
Then, the rectification efficiency is:
P
V *I
= dc = dc dc
Pac Vrms * I rms
Vrms =
49.02 * 3.268
= 26.56%
95.121 * 6.34145
V
95.121
(b) FF = rms =
=
= 1.94
49.02 2 2
Vdc
V
(c) RF = ac = FF 2 1 = 1.94 2 1 = 1.6624
Vdc
P
49.02 * 3.268
(d) TUF = dc =
= 0.1624
VS I S 155.56 * 6.34145
=
85
86 Chapter Three
Fig.3.5 Various voltages and currents waveforms for half wave single phase
controlled rectifier with RL load.
It is assumed that the current flows for < t < , where 2 > > .
When the SCR conducts, the driving function for the differential equation
is the sinusoidal function defining the source voltage. Outside this period,
the SCR blocks current and acts as an open switch and the current
through the load and SCR is zero at this period there is no differential
equation representing the circuit. For < t < , equation (3.5) applies.
di
(3.5)
L + R * i = Vm sin ( t ), t
dt
Divide the above equation by L we get the following equation:
V
di R
+ * i = m sin (t ), 0 t
(3.6)
dt L
L
The instantaneous value of the current through the load can be
obtained from the solution of the above equation as following:
i (t ) = e
R
dt
L
Then, i (t ) =
R
dt
L
R
t
e L
Vm
sin t dt + A
L
R
t
eL
Vm
sin t dt + A
L
87
Vm
(R sin t L cos t ) +
R 2 + w 2 L2
Assume Z = R + j L . Then, Z 2 = R 2 + 2 L2 ,
L
R = Z cos , L = Z sin and tan =
R
Substitute that in (3.7) we get the following equation:
i (t ) =
i (t ) =
Vm
(cos sin t sin cos t ) + Ae
Z
t
tan
(3.7)
Z
V
(3.8)
Then, i (t ) = m sin (t ) + Ae tan
< t <
Z
The value of A can be obtained using the initial condition. Since the
diode starts conducting at t = and the current starts building up from
zero, then, i() = 0. Then, the value of A is expressed by the following
equation:
(3.9)
A = sin( )
Once the value of A is known, the expression for current is known.
After evaluating A, current can be evaluated at different values of t.
t
Vm
(3.10)
i (t ) =
sin(t ) sin( )e L / R
< t <
When the firing angle and the extinction angle are known, the
average and rms output voltage at the cathode of the SCR can be
evaluated. We know that, i=0 when t= substitute this condition in
equation (3.10) gives equation (3.11) which used to determine . Once
the value of A, and the extinction angle are known, the average and
rms output voltage at the cathode of the SCR can be evaluated as shown
in equation (3.12) and (3.13) respectively.
sin( ) = sin( )e
( )
L / R
(3.11)
Vdc
V
V
= m * sin t dt = m * (cos cos )
2
2
(3.12)
88 Chapter Three
V
1
* (Vm sin t )2 dt = m *
2
2
Vrms =
= 30 *
= 0.5236 Rad .
180 6
From equation (3.10) the current < t < can be obtained as
220
i (t ) =
sin(t 0.561) sin(0.5236 0.561)e L / R
follows:11.81
0.628 (t 0.5236 )
=18.6283* sin(t 0.561) + 0.0374e
Vdc 59.9
=
= 5.99 A
R
10
220
*
2
89
Vrms 111.384
=
= 11.1384 A
R
10
2
59.9 2
Vdc * I dc
Vdc
=
= 2 =
= 28.92%
Vrms * I rms Vrms
111.384 2
I rms =
Fig.3.6 Half wave single phase controlled rectifier with RL load and freewheeling diode.
90 Chapter Three
Fig.3.7 Various voltages and currents waveforms for half wave single phase
controlled rectifier with RL load and freewheeling diode.
91
V
i (t ) = m * sin( t ) + A * e L / R
Z
<t <
(3.17)
The difference in the solution of (3.17) than (3.8) is how the constant
A is evaluated? In the circuit without free-wheeling diode i ( ) = 0 , since
the current starts build up from zero when the SCR is triggered during the
positive half cycle. Assuming in the steady state the load is continuous
and periodical which means that:
i ( ) = i (2 + ) = i (2n + )
(3.18)
The solution of (3.16) can be obtained as following:
( wt )
tan
i ( wt ) = B * e
< t < 2 +
(3.19)
(3.20)
At t = then, B = i ( )
To obtain B, we have to obtain i ( ) from (3.17) by letting t equal
. Then,
V
i ( ) = m * sin( ) + A * e tan
Z
Substitute (3.21) into (3.19)
< t < (2 + ) as following:
(3.22)
we
get
the
current
during
92 Chapter Three
Vm
i ( t ) =
* sin( ) + A * e tan
Z
(t )
(t )
tan
*e
V
i ( t ) = m * sin( ) * e tan + A * e tan
< t < 2 + (3.23)
Z
From the above equation we can obtain i (2 + ) as following:
V
i (2 + ) = m * sin( ) * e tan + A * e tan
< t < 2 + (3.24)
Z
From (3.17) we can obtain ( ) by letting t = as following:
V
i ( ) = m * sin( ) + A
(3.25)
Z
Substitute (3.24) and (3.25) into (3.18) we get the following:
Vm
V
* sin( ) + A = m * sin( ) * e tan + A * e tan
Z
Z
+
2
tan
tan Vm
=
A1 e
*
sin(
)
e
sin(
tan
sin( )
sin( )e
(3.26)
A= m *
2
tan
1
e
Then, the load current in the period of 2n + < t < (2n + 1) where
n = 0,1, 2, 3, ....... can be obtained from substituting (3.26) into (3.17).
Also, the load current in the period of (2n + 1) < t < (2n + 1) +
n = 0,1, 2, 3, ....... can be obtained from substituting (3.26) into (3.23).
93
= 30 *
= 0.5236 Rad .
180 6
From (3.26) we can obtain A , A=7.48858
From (3.17) we can obtain i (t ) in the period of
2n + < t < (2n + 1) where n = 0,1, 2, 3, ....... Then,
Vdc =
V
V
1
Vm sin( wt ) dwt = m ( cos + cos( )) = m (1 + cos ) = 65.3372 V
2
2
2
The rms value of the output voltage is shown in the following equation:1/ 2
Vrms
I dc
= (Vm sin(t ) )2 d t
2
1/ 2
V 1
sin( 2 )
= m ( +
)
2
2
=108.402 V
1
6.676 * sin( t 1.2625) + 7.48858 * e 0.31845*( t 0.5236) d t
=
2
2 +
I rms =
1
6.676 * sin( t 1.2625) + 7.48858 * e 0.31845*( t 0.5236)
2
2 +
(9.61457 * e
0.31845( t ) 2
) 2 d t +
1/ 2
d t
= 5.43288 A
94 Chapter Three
=
=
Pdc
V *I
= dc dc
Pac Vrms * I rms
65.3372 * 4.2546
= 47.2 %
108.402 * 5.43288
95
Fig.3.9 The output voltgae and thyristor T1 reverse voltage wavforms along
with the supply voltage wavform.
Fig.3.10 Load current and thyristors currents for Center tap controlled rectifier
with resistive load.
96 Chapter Three
The average voltage, Vdc, across the resistive load is given by:
Vdc =
V sin( t ) d t =
m
Vm
( cos cos( )) =
Vm
(1 + cos ) (3.27)
2
(Vm sin( t )) d t =
Vm
2
sin( 2 )
2
(3.29)
I dc =
Vdc 98.04
=
= 6.536 A
R
15
Vm
sin( 2 )
+
2
2
at =66.42o Vrms=134.638 V
Then, Irms=134.638/15=8.976 A
Vrms =
97
Vm
= 155.56 V
2
The rms value of the transformer secondery current is:
I
I S = rms = 6.347 A
2
Then, The rectification efficiency is:
P
V *I
= dc = dc dc
Pac Vrms * I rms
VS =
98.04 * 6.536
= 53.04%
134.638 * 8.976
134.638
V
= 1.3733 and,
(c) FF = rms =
98.04
Vdc
V
RF = ac = FF 2 1 = 1.37332 1 = 0.9413
Vdc
Pdc
98.04 * 6.536
(d) TUF =
=
= 0.32479
2VS I S 2 *155.56 * 6.34145
(e) The PIV is 2 Vm
Vm
I S ( peak )
14.6667
R
(f) Creast Factor CF, CF =
=
=
= 2.313
IS
6.34145 6.34145
=
98 Chapter Three
gates. Then current flows from vs through SCR T3, load resistor R (from
up to down), SCR T4 and back into the source. Even though the direction
of current through the source alternates from one half-cycle to the other
half-cycle, the current through the load remains unidirectional (from up to
down).
99
Fig.3.13 FFT components of the output voltage and supply current for converter
shown in Fig.3.11.
V sin( t ) d t
m
Vm
Vdm is the maximum output voltage and can be acheaved when =0,
The normalized output voltage is:
Vn =
Vdc
= 0.5 (1 + cos )
Vdm
(3.28)
(V sin( t ) )
m
1
d t =
Vm
2
sin(2 )
2
(3.29)
I dc =
Vdc 98.04
=
= 6.536 A
R
15
Vm
sin( 2 )
+
2
2
At =66.42o Vrms=134.638 V. Then, Irms=134.638/15=8.976 A
V
VS = m = 155.56 V
2
The rms value of the transformer secondery current is:
I S = I rms = 8.976 A
Then, The rectification efficiency is
P
V *I
= dc = dc dc
Pac Vrms * I rms
Vrms =
98.04 * 6.536
= 53.04%
134.638 * 8.976
V
134.638
(c) FF = rms =
= 1.3733
Vdc
98.04
V
RF = ac = FF 2 1 = 1.37332 1 = 0.9413
Vdc
=
101
Pdc
98.04 * 6.536
=
= 0.4589
VS I S 155.56 * 8.976
(e) The PIV is Vm
Vm
I S ( peak )
14.6667
(f) Creast Factor CF, CF =
= R =
= 1.634
IS
8.976
8.976
(d) TUF =
Fig.3.15 Various voltages and currents waveforms for the converter shown in
Fig.3.14 in continuous conduction mode.
103
and the SCRs continue to conduct, with the inductor acting as a source.
When the current through an inductor is falling, the voltage across it
changes sign compared with the sign that occurs when its current is
rising. When the current through the inductor is falling, its voltage is such
that the inductor delivers power to the load resistor, feeds back some
power to the AC source under certain conditions and keeps the SCRs in
conduction forward-biased. If the firing angle is less than the load angle,
the energy stored in the inductor is sufficient to maintain conduction till
the next pair of SCRs is triggered. When the firing angle is greater than
the load angle, the current through the load becomes zero and the
conduction through the load becomes discontinuous. Usually the
description of this circuit is based on the assumption that the load
inductance is sufficiently large to keep the load current continuous and
ripple-free.
Since the output waveform repeats itself every half-cycle, the average
output voltage is expressed in equation (3.33) as a function of , the
firing angle. The maximum average output voltage occurs at a firing
angle of 0o as shown in equation (3.34). The rms value of output voltage
is obtained as shown in equation (3.35).
Vdc =
Vm sin(t ) dt =
2Vm
cos
(3.33)
Vdc
= cos
(3.34)
Vdm
The rms value of output voltage is obtained as shown in equation
(3.35).
Vrms =
2
(Vm sin( t )) d t =
Vm
2
(1 cos(2 t ) d t =
Vm
(3.35)
V
required to be 70%. Then, Vn = dc = cos = 0.7 , then, =45.5731o= 0.7954
Vdm
(b) Vm = 220
2 Vm
Vm
2
o
At =45.5731 Vrms=155.563 V. Then, Irms=50 A
V
VS = m = 155.56 V
2
The rms value of the transformer secondery current is: I S = I rms = 50 A
Then, The rectification efficiency is
P
V *I
98.04 * 50
= dc = dc dc =
= 63.02%
155.563 * 50
Pac Vrms * I rms
V
155.563
(c) FF = rms =
= 1.587
Vdc
98.04
V
RF = ac = FF 2 1 = 1.37332 1 = 1.23195
Vdc
P
98.04 * 50
(d) TUF = dc =
= 0.4589
VS I S 155.56 * 50
(e) The PIV is Vm
I S ( peak )
(f) Creast Factor CF, CF =
=1
IS
3.3.4 Full Wave Fully Controlled Rectifier With R-L Load In
discontinuous Conduction Mode
The converter circuit of Fig.3.14 discussed before was assumed to operate
in continuous conduction mode (i.e. the load angle is bigger than the
firing angle). Sometimes the converter shown in Fig.3.14 can work in
discontinue mode where the load current falls to zero every half cycle and
before the next thyristor in sequence is fired as shown in Fig.3.17. The
equation during the conduction can be given as shown in equation (3.36).
Which can be solved for i as shown in equation (3.37).
= 98.04 V , Vrms =
105
Fig.3.17 Load, resistor and inductor voltages waveforms along with supply
voltage waveforms of the converter shown in Fig.3.14 in case of discontinuous
conduction mode.
Fig.3.18 Supply current waveform along with supply voltage waveforms of the
converter shown in Fig.3.14 in case of discontinuous conduction mode.
Fig.3.18 FFT components of supply current along with supply voltage of the
converter shown in Fig.3.14 in discontinuous conduction mode.
Vm
(3.36)
i ( t ) =
sin( t ) sin( )e tan
L
Where = tan 1
and Z 2 = R 2 + ( L) 2
R
But i=0 when t= substitute this condition in equation (3.36) gives
equation (3.37) which used to determine . Once the value of A, and
the extinction angle are known, the average and rms output voltage at
the cathode of the SCR can be evaluated as shown in equation (3.38) and
(3.39) respectively.
sin( ) = sin( )e
Vdc =
Vm
( )
tan
* sin t d t =
Vm
(3.37)
* (cos cos )
(3.38)
* (Vm sin t )2 d t =
Vm
*
2
107
Vm
* (cos cos )
R
(3.40)
3.3.5 Single Phase Full Wave Fully Controlled Rectifier With Source
Inductance:
Full wave fully controlled rectifier with source inductance is shown in
Fig.3.19. The presence of source inductance changes the way the circuit
operates during commutation time. Let vs = Vm sin wt, with 0 < t <
360o. Let the load inductance be large enough to maintain a steady
current through the load. Let firing angle be 30o. Let SCRs T3 and T4
be in conduction before t < 30o. When T1 and T2 are triggered at t =
30o, there is current through the source inductance, flowing in the
direction opposite to that marked in the circuit diagram and hence
commutation of current from T3 and T4 to T1 and T2 would not occur
instantaneously. The source current changes from I dc to I dc due to the
whole of the source voltage being applied across the source inductance.
When T1 is triggered with T3 in conduction, the current through T1
would rise from zero to I dc and the current through T3 would fall from
I dc to zero. Similar process occurs with the SCRs T2 and T4. During this
period, the current through T2 would rise from zero to I dc and, the
current through T4 would fall from I dc to zero.
Fig.3.19 single phase full wave fully controlled rectifier with source inductance
Fig.3.20 Output voltage, thyristors current along with supply voltage waveform
of a single phase full wave fully controlled rectifier with source inductance.
Fig.3.21 Output voltage, supply current along with supply voltage waveform of
a single phase full wave fully controlled rectifier with source inductance.
109
Io
Io
Vm sin t d t = Ls dis
Then,
Then,
2Ls I o
Then u = cos 1 cos( )
(3.42)
Vm
2 Ls I o
u 1
Then t = = cos 1 cos( )
(3.43)
V
m
Then,
Io
vrd t d t = Ls dis = 2 Ls I o
Io
+u
vrd t d t
(3.45)
Vrd t d t = 4 Ls I o
(3.46)
2 I o2 u
2 3
(3.49)
111
(3.51)
p. f = s1 cos +
2
Is
Vdc =
V sin( t ) d t
m
Vm
Vdm is the maximum output voltage and can be acheaved when =0,
V
The normalized output voltage is: Vn = dc = 0.5 (1 + cos ) (3.53)
Vdm
The rms value of output voltage is obtained as shown in the following
equation:Vrms =
(Vm sin( t ) )
d t =
Vm
2
sin(2 )
2
(3.54)
Fig.3.24 Various voltages and currents waveforms for the converter shown in Fig.3.23.
113
Fig.3.26 Waveform output from single phase inverter assuming DC load current.
There are several points worth noting here. This inverter mode of
operation is possible since there is a source of energy on the DC side. On
the ac side, the ac voltage source facilitates the commutation of current
from one pair of thyristors to another. The power flows into this AC
source.
Generally, the DC current source is not a realistic DC side
representation of systems where such a mode of operation may be
encountered. Fig.3.27 shows a voltage source Ed on the DC side that
may represent a battery, a photovoltaic source, or a DC voltage produced
by a wind-electric system. It may also be encountered in a four-quadrant
DC motor supplied by a back-to-back connected thyristor converter.
An assumption of a very large value of Ld allows us to assume id to
be a constant DC, and hence the waveforms of Fig.3.28 also apply to the
circuit of Fig.3.27. Since the average voltage across Ld is zero,
2
E d = Vd = Vdo cos Ls I d
(3.55)
115
Fig.3.31 Three phase half wave controlled rectifier with resistive load.
117
Vdc
I dc
5 / 6 +
3 3 Vm
cos = 0.827Vm cos
2
(3.57)
/ 6 +
3
=
VLL cos = 0.675VLL cos
2
3 3 Vm
0.827 * Vm
=
cos =
cos
(3.58)
2 * * R
R
3
=
2
Vrms
Vm sin t d t =
3
=
2
5 / 6 +
d t = 3 Vm
/ 6 +
3 Vm
I rms =
(Vm sin t )
1
3
+
cos 2
6 8
R
1
3
+
cos 2 (2.57)
6 8
(3.60)
Then the thyristor rms current is equal to secondery current and can be
obtaiend as follows:
1
3
cos 2
Vm +
6 8
I rms
=
Ir = IS =
R
3
The PIV of the diodes is
1/ 2
2 V LL = 3 Vm
(3.61)
(3.62)
Fig.3.32 Voltages and currents waveforms for rectifier shown in Fig.3.31 at 30.
119
Fig.3.33 FFT components of load voltage, secondary current and supply current
for the converter shown in Fig.3.31 for 30.
In case of > 30, various voltages and currents of the rectifier shown
in Fig.3.31 are shown in Fig.3.34. Fig.3.35 shows FFT components of
load voltage, secondary current and primary current. As we can see the
load voltage and current equal zero in some regions (i.e. discontinuous
load current). The average output voltage and current are shown in
equation (3.63) and (3.64) respectively. The rms output voltage and
current are shown in equation (3.65) and (3.66) respectively.
The average output voltage is :Vdc =
3
2
I dc =
Vm sin t dt =
/ 6 +
3 Vm
2
(3.63)
1 + cos 6 + = 0.4775Vm 1 + cos 6 +
3 Vm
1 + cos +
2 R
6
Vrms =
3
2
(Vm sin t )
/ 6 +
d t = 3 Vm
(3.64)
5
1
+
sin( / 3 + 2 ) (2.63)
24 4 8
3 Vm 5
1
+
sin( / 3 + 2 )
R
24 4 8
Then the diode rms current can be obtaiend as follows:
I
V
5
1
I r = I S = rms = m
+
sin( / 3 + 2 )
R 24 4 8
3
I rms =
2 VLL = 3 Vm
(3.66)
(3.67)
(3.68)
121
Fig.3.35 FFT components of load voltage, secondary current and supply current
for the converter shown in Fig.3.22 for > 30.
1
3
1
3
cos 2
cos 2 = 2 VLL *
+
+
6 8
6 8
1
3
cos (2 * 25) = 298.8 V
+
6 8
Then I rms =
I S , peak =
CF =
Vm
=
R
I S , peak
IS
2 / 3 *VLL
=
5
75.12
=
= 2.177
34.5
2 / 3 * 460
= 75.12 A
5
3
3 Vm
Vdc =
1
cos
1 + cos + = 179.33 V
+
+
=
2
2
6 3
6
V
179.33
= 35.87 A
Then; I dc = dc =
5
R
From (3.65) we can calculate Vrms as following:
Vrms = 3 Vm
5
1
+
sin( / 3 + 2 )
24 4 8
5 /3 1
+
sin( / 3 + 2 / 3 ) = 230V
24 4 8
V
230
= 46 A
Then I rms = rms =
R
5
Then, the rectfication effeciency can be calculated as following
= 2 * 460 *
123
Vdc I dc
*100 = 60.79 %
Vrms I rms
The rms value of the secondary current can be calculated as following:
I
46
I S = rms =
= 26.56 A
3
3
Vdc I dc
179.33 * 35.87
TUF =
=
*100 = 30.4 %
3 VLL * I s
3 * 460 * 26.56
I S , peak =
CF =
Vm
=
R
I S , peak
IS
2 / 3 *VLL
=
5
75.12
=
= 2.83
26.56
2 / 3 * 460
= 75.12 A
5
Fig.3.36 Three Phase Half Wave Controlled Rectifier With DC Load Current
t=0
Fig.3.37 Various voltages and currents waveforms for the converter shown in
Fig.3.36 for > 30 and pure DC current load.
Fig.3.38 FFT components of load voltage, secondary current and supply current
for the converter shown in Fig.3.36 for > 30 and pure DC current load.
125
2 / 3
I dc sin(n t ) d t =
0
2 I dc
2n
1 cos
for n=1,2,3,4,
n
3
2 I dc 3
*
for n=1,2,4,5,7,8,10,.. (3.69)
n 2
And b n = 0
For n=3,6,9,12,..
(3.70)
Then the source current waveform can be expressed as the following
equation
bn =
Then,
i p (t ) =
3I dc
1
1
1
1
2
4
5
7
The resultant waveform shown in equation (3.61) agrees with the result
from simulation (Fig.3.38). The THD of source current can be obtained
by two different methods. The first method is shown below:THD =
I 2p I 2p1
I 2p1
(3.72)
2
* I dc
(3.73)
3
The rms of the fundamental component of supply current can be
obtained from equation (3.71) and it will be as shown in equation (3.74)
3I
I p1 = dc
(3.74)
2
Substitute equations (3.73) and (3.74) into equation (3.72), then,
2 2
9 2
I dc
I dc
3
2 2
= 68 %
(3.75)
THD =
9 2
I dc
2 2
Where, I p =
10
11
13
14
The supply current THD is very high and it is not acceptable by any
electric utility system. In case of full wave three-phase converter, the
THD in supply current becomes much better than half wave (THD=35%)
but still this value of THD is not acceptable.
Example 9 Three phase half wave controlled rectfier is connected to 380
V three phase supply via delta-way 380/460V transformer. The load of
the rectfier draws 100 A pure DC current. The delay angle, = 30 o .
Calculate:
(a) THD of primary current.
(b) Input power factor.
Solution: The voltage ratio of delta-way transformer is 380/460V. Then,
460
the peak value of primary current is 100 *
= 121.05 A . Then,
380
2
I P, rms = 121.05 *
= 98.84 A .
3
I P1
can
be
obtained
from
equation
(372)
where
3I
3 *121.05
I P1 = dc =
= 81.74 A .
2
2
2
2
I P, rms
98.84
1 *100 =
Then, (THD )I P =
1 *100 = 67.98 %
81
.
74
I
1
P
* cos + = 0.414 Lagging
P. f = P1 * cos + =
6 98.84
I P , rms
6 6
3.6 Three Phase Half Wave Controlled Rectifier With Free Wheeling
Diode
The circuit of three-phase half wave controlled rectifier with free
wheeling diode is shown in Fig.3.39. Various voltages and currents
waveforms of this converter are shown in Fig.3.40. FFT components of
127
load voltage, secondary current and supply current for the converter
shown in Fig.3.39 for > 30 and RL load is shown in Fig.3.41. In case of
firing angle less than 30o, the output voltage and current will be the
same as the converter without freewheeling diode, because of the output
voltage remains positive all the time. However, for firing angle greater
than 30o, the freewheeling diode eliminates the negative voltage by
bypassing the current during this period. The freewheeling diode makes
the output voltage less distorted and ensures continuous load current.
Fig.3.40 shows various voltages and currents waveforms of the converter
shown in Fig.3.39. The average and rms load voltage is shown below:The average output voltage is :
3 Vm
3
V =
V sin t dt =
1 + cos + = 0.4775V 1 + cos + (3.77)
dc
I dc =
Vrms
I rms
/ 6+
3 Vm
1 + cos +
2 R
6
3
=
2
(Vm sin t )
/ 6 +
dt = 3 Vm
(3.78)
5
1
+
sin( / 3 + 2 )
24 4 8
(3.79)
3 Vm 5
1
=
+
sin( / 3 + 2 )
R
24 4 8
(3.80)
Fig.3.39 Three-phase half wave controlled rectifier with free wheeling diode.
Fig.3.40 Various voltages and currents waveforms for the converter shown in
Fig.3.36 for > 30 with RL load and freewheeling diode.
Fig.3.41 FFT components of load voltage, secondary current and supply current
for the converter shown in Fig.3.36 for > 30 and RL load.
129
from Fig3.38 that thyristor T1 or any other thyristor remains on for 120o .
It can be seen from Fig.3.44 that the voltage vb is the highest positive
voltage of the three phase voltage when t is in the range of
150 < t < 270 o . So, the thyristor T3 is forward bias during this period
131
330 < t < 450 o or 330 < t < 90 o in the next period of supply voltage
waveform. So, the thyristor T6 is forward bias during this period and it is
ready to conduct at any instant in this period if it gets a pulse on its gate.
In Fig.3.44, the firing angle = 40 as an example. So, T6 takes a pulse
at t = 330 + = 370 o .
It can be seen from Fig.3.44 that the voltage vc is the highest negative
voltage of the three phase voltage when t is in the range
90 < t < 210 o . So, the thyristor T2 is forward bias during this period and
it is ready to conduct at any instant in this period if it gets a pulse on its
gate. In Fig.3.44, the firing angle = 40 as an example. So, T2 takes a
pulse at t = 90 + = 130 o .
From the above explanation we can conclude that there is two
thyristor in conduction at any time during the period of supply voltage.
It is also clear that the two thyristors in conduction one in the upper half
(T1, T3, or, T5) which become forward bias at highest positive voltage
connected to its anode and another one in the lower half (T2, T4, or, T6)
T1 and T6
+ 90 to + 150
o
T1 and T2
o
+ 150 to + 210
T2 and T3
+ 210o to + 270o
T3 and T4
+ 270o to + 330o
T4 and T5
T5 and T6
Fig.3.45 Output voltage along with three phase line to line voltages of rectifier
in Fig.3.42 at
= 40o .
133
= 40, ( 60 ) .
Vdc =
/ 2 +
/ 6 +
3 Vm sin( t + ) d t =
6
3 3 Vm
cos
(3.81)
Vdc
= cos
Vdm
(3.83)
The rms value of the output voltage is found from the following
equation:
Vrms =
/ 2 +
3 Vm sin( t + ) d t = 3 Vm
/ 6 +
3
1 3 3
+
cos 2 (3.84)
2
4
Fig.3.47 Output voltage along with three phase line to line voltages of rectifier
in Fig.3.42 at = 75o .
135
5 / 6
3 Vm sin( t +
/ 6 +
) d t =
3 3 Vm
[1 + cos ( / 3 + )](3.85)
5 / 6
3 Vm sin( t + ) d t
=
6
/ 6 +
3
= 3Vm 1
(3.88)
2 cos 2 +
4
6
Vdc 400
=
= 40 A
R
10
From (3.84) the rms value of the output voltage is:
Then = 38.79 o ,
Vrms = 3 Vm
I dc =
1 3 3
2
+
cos 2 = 3 *
* 380 *
2
4
3
1 3 3
+
cos (2 * 38.79 )
2
4
Then, I rms =
2 * 380 sin t +
2 * 380 sin (30 + 38.79 + 30)
6
I S , peak =
=
= 53.11 A
R
10
2
2
I s , rms =
* 41.24 = 33.67 A
*I rms =
3
3
I S , peak 53.11
Then, C F =
=
= 1.577
33.67
I s, rms
The PIV= 3 Vm=537.4V
Example 11 Solve the previous example if the required dc voltage is 150V.
It is not acceptable result because the above equation valid only for
60 . Then we have to use the (3.85) to get Vdc as following:
3 3*
Vdc ==
2
* 380
3
[1 + cos ( / 3 + )] = 150V . Then, = 75.05o
V
150
Then I dc = dc =
= 15 A
R
10
From (3.88) the rms value of the output voltage is:
3
Vrms = 3Vm 1
2 cos 2 +
4
6
= 3*
2
* 380 *
3
1
cos (2 * 75.05 + 30 )
2 * 75.05 *
180
137
2 * 380 sin t +
2 * 380 sin (30 + 75.05 + 30)
6
=
= 37.97 A
I S , peak =
R
10
2
2
I s , rms =
*I rms =
*19.8075 = 16.1728 A
3
3
I S , peak
37.97
Then, C F =
=
= 2.348
I s, rms 16.1728
The PIV= 3 Vm=537.4V
3.7.1 Three Phase Full Wave Fully Controlled Rectifier With pure
DC Load Current
Three-phase full wave-fully controlled rectifier with pure DC load current
is shown in Fig.3.48. Fig.3.49 shows various currents and voltage of the
converter shown in Fig.3.48 when the delay angle is less than 60o. As we
see in Fig.3.49, the load voltage is only positive and there is no negative
period in the output waveform. Fig.3.50 shows FFT components of
Fig.3.48 Three phase full wave fully controlled rectifier with pure dc load current
Fig.3.49 Output voltage and supply current waveforms along with three phase line
voltages for the rectifier shown in Fig.3.48 for < 60o with pure DC current load.
139
Fig.3.51 Output voltage and supply current waveforms along with three phase
line voltages for the rectifier shown in Fig.3.48 for > 60o with pure DC
current load.
141
diode bridge rectifier with pure DC load and source inductance. The
Fourier transform of line current and THD will be the same as obtained
before in Three-phase diode bridge rectifier with pure DC load and
source inductance which explained in the previous chapter.
Fig.3.54 Output voltage and supply current of rectifier shown n Fig.3.48 with
pure DC load and source inductance the waveforms.
u
Vc
Va
Vb
/2
Io
Io
Io
Io
143
Io
/ 2 +
/ 2 + + u
Io
2
2
Vm sin t
Vm sin t +
d t + Lb ( I o ) Lc I o = 0
3
3
/ 2 +
assume Lb = Lc = LS
2
Vm cos t
3
/ 2 + + u
+ cos t +
3 / 2 +
= 2 LS I o
2
2
2
2
Vm cos + + u
+ cos + + u +
+ cos +
cos + +
3
3
3
3
2
2
2
2
= 2 LS I o
7
7
Vm cos + u + cos + u +
+ cos cos +
6
6
6
6
= 2 LS I o
7
7
cos( + u )cos 6 sin ( + u )sin 6 + cos( + u )cos 6 sin ( + u )sin 6
7
7 2 LS I o
+ cos cos + sin sin cos cos
+ sin sin =
Vm
6
6
6
6
3
3
cos( + u ) 0.5 sin ( + u )
cos( + u ) + 0.5 sin ( + u )
2
2
2 LS I o
3
3
cos + 0.5 sin
cos 0.5 sin =
Vm
2
2
3[cos cos( + u )] =
cos( ) cos( + u ) =
2 LS I o
Vm
2 LI o 2 LI o
2 LS I o
=
=
VLL
3 Vm
2 VLL
2 LS I o
u = cos 1 cos( )
V
LL
2 LS I o
u 1
t = = cos 1 cos( )
VLL
(3.98)
(3.99)
(3.100)
145
+ + u
vrd d t = LdiD = LS I o
(3.102)
Io
+ + u
vrd d t
have six commutation periods t in one period so the total reduction per
period is:
+ + u
vrd d t = 6 LS I o
(3.103)
Fig.3.58n shows the utility line current with some detailes to help us to
calculate its rms value easly.
Vdc
actual
= Vdc
Vrd =
+
u
2
3 2
2 Io
t dt + I d2 dt =
Is =
u
u
0
2 I o2 1 3 u
u
+
+
3u 2
3 2
3 6
(3.106)
Is
Io
2
+u
3
2 u
+
6
2
Io
2
3
Fig.3.59 shows the utility line currents and its first derivative that help
us to obtain the Fourier transform of supply current easily. From Fig.2.43
we can fill Table(3.1) as explained before when we study Table (2.1).
u
Is
Io
7 u
6 2
5 u
6 2
Io
I s
11 u
6 2
6 2
u
Io
u
5 u
6 2
I
o 6 2
u
7 u
6 2
11 u
6 2
147
Js
6
0
Io
u
Is
I s
u
2
6
0
Io
u
u
2
5 u
6 2
0
Io
u
5 u
+
6 2
0
Io
u
7 u
6 2
0
Io
u
7 u
+
6 2
0
Io
u
11 u
6
2
0
Io
u
1 m
J
cos
n
t
J s sin nt s
s
s
n s =1
s =1
bn =
1
n
bn =
1 1 Io
u
u
5 u
5 u
+ sin n
+
* sin n sin n + sin n
n n u
6 2
6 2
6 2
6 2
(3.107)
7 u
7 u
11 u
11 u
sin n
+ sin n
+ + sin n
sin n
+
2
2
6 2
6 2
6
6
nu
n
11n
7n
5n
(3.108)
cos
cos
+ cos
cos
6
6
6
2
6
n u
Then, the utility line current can be obtained as in (3.109).
bn =
2I o
* sin
i ( t ) =
4 3 u
1
1
5u
7u
sin sin (t ) 2 sin sin (5t ) 2 sin sin (7t ) +
u 2
2
2
5
7
(3.109)
+
11u
13u
sin
sin (11t ) + 2 sin
sin (13t ) + +
2
2
11
13
2 6 Io u
(3.110)
sin
u
2
The power factor can be calculated from the following equation:
Then; I S1 =
pf =
I S1
u
cos =
IS
2
2 6 Io u
sin
u
2
cos +
2
2 I o2 u
3 6
u
2 3 * sin
2 cos + u
Then; pf =
u
u
3 6
(3.111)
11 u
+
6
2
0
Io
u
2
3 2
VLL [2 cos (cos cos( + u ))]
2
3 2
(3.112)
Vdc =
VLL [cos + cos( + u )]
2
Then the DC power output from the rectifier is Pdc = Vdc I o . Then,
Vdc =
3 2
VLL * I o [cos + cos( + u )]
(3.113)
2
On the AC side, the AC power is:
Pac = 3 VLL I S1 cos 1
(3.114)
Substitute from (3.110) into (3.114) we get the following equation:
4 3 Io u
6 2 VLL I o u
Pac = 3 VLL
sin cos 1 =
sin cos 1
(3.115)
u
u 2
2
2
By equating (3.113) and (3.115) we get the following:
u [cos + cos ( + u )]
(2.116)
cos 1 =
u
4 * sin
2
The source inductance reduces the magnitudes of the harmonic
currents. Fig.3.60a through d show the effects of LS (and hence of u) on
various harmonics for various values of , where I d is a constant dc.
The harmonic currents are normalized by I1 I, with LS = 0 , which is
Pdc =
current is not a constant DC. Typical and idealized harmonics are shown
in Table 3.2.
149
151
Inverter Startup
As discussed for start up of a single-phase inverter, the delay angle
in the three-phase inverter of Fig.3.63 is initially made sufficiently
large (e.g., 165) so that id is discontinuous. Then, is decreased by
the controller such that the desired I d and Pd are obtained.
153
Chapter 4
SWITCH-MODE dc-ac
INVERTERS: dc SINUSOIDAL ac
4.1 Introduction
Switch-mode dc-to-ac inverters are used in ac motor drives and
uninterruptible ac power supplies where the objective is to produce a
sinusoidal ac output whose magnitude and frequency can both be
controlled. As an example, consider an ac motor drive, shown in Fig.4.1
in a block diagram form. The dc voltage is obtained by rectifying and
filtering the line voltage, most often by the diode rectifier circuits. In an
ac motor load, the voltage at its terminals is desired to be sinusoidal and
adjustable in its magnitude and frequency. This is accomplished by
means of the switch-mode dc-to-ac inverter of Fig.4.1, which accepts a dc
voltage as the input and produces the desired ac voltage input.
To be precise, the switch-mode inverter in Fig.4.1 is a converter
through which the power flow is reversible. However, most of the time
the power flow is from the dc side to the motor on the ac side, requiring
an inverter mode of operation. Therefore, these switch-mode converters
are often referred to as switch-mode inverters.
To slow down the ac motor in Fig.4.1, the kinetic energy associated
with the inertia of the motor and its load is recovered and the ac motor
acts as a generator. During the so-called braking of the motor, the power
flows from the ac side to the dc side of the switch-mode converter and it
operates in a rectifier mode. The energy recovered during the braking of
the ac motor can be dissipated in a resistor, which can be switched in
parallel with the dc bus capacitor for this purpose in Fig.4.1. However, in
applications where this braking is performed frequently, a better
alternative is regenerative braking where the energy recovered from the
motor load inertia is fed back to the utility grid, as shown in the system of
Fig.4.2. This requires that the converter connecting the drive to the utility
grid be a two-quadrant converter with a reversible dc current, which can
operate as a rectifier during the motoring mode of the ac motor and as an
inverter during the braking of the motor. Such a reversible-current twoquadrant converter can be realized by two back-to-back connected linefrequency thyristor converters or by means of a switch-mode converter as
shown in Fig.4.2. There are other reasons for using such a switch-mode
SWITCH-MODE dc-ac
153
rectifier (called a rectifier because, most of the time, the power flows
from the ac line input to the dc bus) to interface the drive with the utility
system.
In this chapter, we will discuss inverters with single-phase and threephase ac outputs. The input to switch-mode inverters will be assumed to
be a dc voltage source, as was assumed in the block diagrams of Fig.4.1
and Fig.4.2. Such inverters are referred to as voltage source inverters
(VSIs). The other types of inverters, now used only for very high power
ac motor drives, are the current source inverters (CSIs), where the dc
input to the inverter is a dc current source. Because of their limited
applications, the CSIs are not discussed.
The VSIs can be further divided into the following three general
categories:
1. Pulse-width-modulated inverters. In these inverters, the input dc
voltage is essentially constant in magnitude, such as in the circuit of
Fig.4.1, where a diode rectifier is used to rectify the line voltage.
Therefore, the inverter must control the magnitude and the frequency of
the ac output voltages. This is achieved by PWM of the inverter switches
and hence such inverters are called PWM inverters. There are various
SWITCH-MODE dc-ac
155
fs
(4.2)
f1
In the inverter of Fig.4.4b, the switches TA + and TA are controlled
based on the comparison of vcontrol and vtri and the following output
voltage results, independent of the direction of io :
mf =
SWITCH-MODE dc-ac
TA + is on ,
TA is on ,
157
1
v Ao = Vd
2
1
v Ao = Vd
2
(4.3)
Since the two switches are never off simultaneously, the output voltage
1
1
v Ao
fluctuates between two values ( Vd and Vd ). Voltage v Ao and
2
2
its fundamental frequency component (dashed curve) are shown in
Fig.4.5b, which are drawn for m f = 15 and ma = 0.8.
( )
( )
tri
vcontrol Vd
vcontrol Vtri
(4.4)
Vtri 2
Let us assume (though this assumption is not necessary) that vcontrol
varies very little during a switching time period, that is, m f is large, as
V Ao =
tri
Using Eqs. (4.4) and (4.5) and the foregoing arguments, which show
that the fundamental-frequency component (v Ao )1 varies sinusoidally and
in phase with vcontrol as a function of time, results in
V
V
(v Ao )1 = Vcontrol
sin 1t d = ma sin 1t d
for ma 1
(4.6)
2
2
Vtri
SWITCH-MODE dc-ac
Therefore,
159
(VAo )1 = ma V2d
for ma 1
(4.7)
that is, the harmonic order h corresponds to the kth sideband of j times the
frequency modulation ratio m f :
( )
h = j mf k
(4.8)
( )h / 12 Vd
are tabulated as a
( ) ( )
SWITCH-MODE dc-ac
161
(4.11)
Therefore, from Table 1 the rms voltages are as follows:
SWITCH-MODE dc-ac
163
( )
( )
( )
( )
SWITCH-MODE dc-ac
165
(V )
and (V ) = Ao 1
(4.13)
(4.14)
h
where the harmonic order h takes on only odd values, as shown in
Fig.4.9b. It should be noted that the square-wave switching is also a
special case of the sinusoidal PWM switching when ma becomes so large
that the control voltage waveform intersects with the triangular waveform
in Fig.4.5a only at the zero crossing of vcontrol . Therefore, the output
voltage is independent of ma in the square-wave region, as shown in
Fig.4.8.
One of the advantages of the square-wave operation is that each
inverter switch changes its state only twice per cycle, which is important
at very high power levels where the solid-state switches generally have
slower turn-on and turn-off speeds. One of the serious disadvantages of
square-wave switching is that the inverter is not capable of regulating the
output voltage magnitude. Therefore, the dc input voltage Vd to the
inverter must be adjusted in order to control the magnitude of the inverter
output voltage.
Ao h
SWITCH-MODE dc-ac
167
( )
component in the output voltage Vo1 can be obtained from Eqs. (4.7),
(4.12), and (4.18) as:
Vo1 = maVd
(ma 1.0)
(4.19)
4
and Vd < Vo1 < Vd
(ma > 1.0)
(4.20).
( )
( )
( )
SWITCH-MODE dc-ac
169
id* (t ) = I d 2 I d 2 cos(21t )
V I
where I d = o o cos
Vd
1 Vo I o
and I d 2 =
2 Vd
(4.26)
(4.27)
(4.28)
SWITCH-MODE dc-ac
171
ripple in the capacitor voltage, which is also the dc input voltage to the
inverter, is due to two reasons: (1) The rectification of the line voltage to
produce dc does not result in a pure dc, dealing with the line-frequency
rectifiers. (2) As shown earlier by Eq.(4.26), the current drawn by a
single-phase inverter from the dc side is not a constant dc but has a
second harmonic component (of the fundamental frequency at the
inverter output) in addition to the high switching-frequency components.
The second harmonic current component results in a ripple in the
capacitor voltage, although the voltage ripple due to the high switching
frequencies is essentially negligible.
(4.31)
We notice that when both the upper switches are on, the output
voltage is zero. The output current circulates in a loop through T A + and
DB + or D A + and TB + depending on the direction of io . During this
interval, the input current id is zero. A similar condition occurs when
both bottom switches TA and TB are on.
In this type of PWM scheme, when a switching occurs, the output
voltage changes between zero and + Vd or between zero and Vd
voltage levels. For this reason, this type of PWM scheme is called PWM
with a unipolar voltage switching, as opposed to the PWM with bipolar
(between + Vd and Vd ) voltage-switching scheme described earlier.
SWITCH-MODE dc-ac
173
2,
(Vo )h = 212.13
(V Ao )h
(4.35)
Vd / 2
Using Eq.(35) and Table 1, we find that the rms voltages are as follows:
At fundamental or 47 Hz: Vo1 = 0.8 x 212.13 = 169.7 V
At h = 2m f - 1 = 75 or 3525 Hz: (Vo )75 = 0.314 x 212.13 = 66.60 V
SWITCH-MODE dc-ac
175
(4.37)
1
where = 90o and h is an odd integer.
2
Fig.4.17c shows the variation in the fundamental-frequency
component as well as the harmonic voltages as a function of . These are
normalized with respect to the fundamental-frequency component for the
square-wave ( = 0) operation. The total harmonic distortion, which is
the ratio of the rms value of the harmonic distortion to the rms value of
the fundamental-frequency component, is also plotted as a function of .
Because of a large distortion, the curves are shown as dashed for large
values of .
SWITCH-MODE dc-ac
177
(4.42)
Fig. 4.19 Ripple in the inverter output: (a) square-wave switching; (6) PWM
bipolar voltage switching.
SWITCH-MODE dc-ac
179
(ma 1.0)
(4.43)
(4.44)
In a push-pull inverter, the peak switch voltage and current ratings are
VT = 2Vd
IT = io, peak / n
(4.45)
The main advantage of the push-pull circuit is that no more than one
switch in series conducts at any instant of time. This can be important if
the dc input to the converter is from a low-voltage source, such as a
battery, where the voltage drops across more than one switch in series
would result in a significant reduction in energy efficiency. Also, the
control drives for the two switches have a common ground. It is,
however, difficult to avoid the dc saturation of the transformer in a
push-pull inverter.
SWITCH-MODE dc-ac
181
Vo1 I o, max
qVT I T
(4.55)
2000
= 0.11
4 * 325 *14.14
SWITCH-MODE dc-ac
183
( )
SWITCH-MODE dc-ac
185
(4.57)
SWITCH-MODE dc-ac
187
(4.58)
The line-to-line output voltage waveform does not depend on the load
and contains harmonics (6n 1; n = 1, 2, . . .), whose amplitudes decrease
inversely proportional to their harmonic order, as shown in Fig.4.24c:
(4.59)
(VLL )h = 0.78 Vd
h
where h = n 1
(n = 1, 2, 3,.......)
It should be noted that it is not possible to control the output
magnitude in a three-phase, square-wave inverter by means of voltage
cancellation as described in Section 4.3.2.4.
4.4.3 SWITCH UTILIZATION IN THREE-PHASE INVERTERS
We will assume that Vd , max is the maximum input voltage that remains
constant during PWM and is decreased below this level to control the
output voltage magnitude in a square-wave mode. We will also assume
that there is sufficient inductance associated with the load to yield a pure
sinusoidal output current with an rms value of I o. max (both in the PWM
and the square-wave mode) at maximum loading. Therefore, each switch
would have the following peak ratings:
VT = Vd , max
(4.60)
(4.61)
and I T = 2 I o, max
If VLL1 is the rms value of the fundamental-frequency line-to-line
voltage component, the three-phase output volt-amperes (rms) at the
fundamental frequency at the rated output is
(VA)3 phase = 3 VLL1 I O, max
(4.62)
Therefore, the total switch utilization ratio of all six switches combined is
SWITCH-MODE dc-ac
189
(4.63)
In the PWM linear region (ma 1.0 ) using Eq.(4.57) and noting that the
maximum switch utilization occurs at Vd = Vd , max
(4.64)
In the square-wave mode, this ratio is 1 / 2 0.16 compared to a
maximum of 0.125 for a PWM linear region with ma = 1.0 .
In practice, the same derating in the switch utilization ratio applies as
discussed in Section 4.3.4 for single-phase inverters.
Comparing Eqs.(4.54) and (4.64), we observe that the maximum
switch utilization ratio is the same in a three-phase, three-leg inverter as
in a single-phase inverter. In other words, using the switches with
identical ratings, a three-phase inverter with 50% increase in the number
of switches results in a 50% increase in the output volt-ampere, compared
to a single-phase inverter.
4.4.4 RIPPLE IN THE INVERTER OUTPUT
Figure 4.25a shows a three-phase, three-leg, voltage source, switchmode inverter in a block diagram form. It is assumed to be supplying a
three-phase ac motor load. Each phase of the load is shown by means of
its simplified equivalent circuit with respect to the load neutral n. The
induced back e A (t ), eB (t ) , and ec (t ) are assumed to be sinusoidal.
SWITCH-MODE dc-ac
191
Fig.4.37 Operation modes: (a) circuit; (b) inverter mode; (c) rectifier mode:
(d) constant I A .
SWITCH-MODE dc-ac
193
( )
( )
1 m
J s cos nt
n s =1
(4.75)
Value
-2
-2
2
[2 cos n0 2 cos n1 + 2 cos n 2 2 cos n 3 ]
n
Then, bn =
(4.76)
SWITCH-MODE dc-ac
195
4
(4.78)
b5 = [1 cos 51 + cos 5 2 cos 5 3 ] = 0
4
(4.79)
b7 = [1 cos 71 + cos 7 2 cos 7 3 ] = 0
cos 5 cos 5
= 14
(4.80)
cos
5
1
2
3
cos 1
cos 7 2
cos 7 3
Notch1
Notch2
+ 1
+ 2
1t
2 1
2 2 2 1
[1 cos 71 + cos 7 2 ] = 0
cos 51 cos 5 2 1
cos 7 cos 7 = 1
1
2
b7 =
(4.83)
(4.84)
SWITCH-MODE dc-ac
197
Harmonic
order
1
3
5
7
9
11
13
15
17
19
21
THD
1.27324
0.244413
0.25468
0.18189
0.14147
0.11575
0.09794
0.08488
0.07490
0.06701
0.06063
22.669%
bn =
4
n
bn =
4
[1 cos n1 + cos n 2 ]
n
1.1871
0.20511
0.0
0.0
0.0995
0.21227
0.27141
0.25067
0.16881
0.07183
0.00407
26.201%
Vd
2
Vd
2
S3
S1
a
b
c
S4
S2
System Analysis
For the proposed converter Fig.4.40, the switching requirements can
be stated as follows.
Let the input three-phase generated voltages are:
Vab = 3 *Vm Sin( i t + 30)
Vbc = 3 *Vm Sin( i t + 270)
(4.85)
cb
2
Where S1 , S2 , S3 and S4 are the switching functions of switches 1,2,3
and 4 respectively. Vd is the DC-link voltage.
But, S 2 = 1 S1 and S 4 = 1 S3
(4.87)
V
Vab = (2 S1 1) d and
2
Then,
(4.88)
Vd
Vcb = (2 S3 1)
2
Then from (4.85), (4.86), (4.87) and (4.88) we get the following
equation:
V
S1 = 0.5 + 3 m sin (1t + 30 )
Vd
S 2 = 0 .5 3
Vm
sin (1t + 30 )
Vd
S 3 = 0 .5 + 3
Vm
sin (1t + 90 )
Vd
Vm
sin (1t + 90 )
Vd
(4.89)
o
Then, the shift angle for switching signal of leg a is 30 and for leg c
V
is 90o. Then, Vab = ma d 30 o
(4.90)
2 2
S 4 = 0 .5 3
SWITCH-MODE dc-ac
Vbc = ma
Vd
2 2
Vd
Vca = ma1
199
270 o
(4.91)
150 o
(4.92)
2 2
Then, VLL = ma
Vd
(4.93)
2 2
From the above equations it is clear that the DC voltage must be at
least twice the maximum of input line-to-line voltage to avoid the input
current distortion.
The main disadvantage of four switch converter is it needs for higher
dc voltage to give the same line-to-line voltage as the six switch inverter
which is clear from comparing the following equations:
V
(four switch converter)
(4.94)
VLL = ma d
2 2
V
VLL = 3 ma d
(six switch converter)
(4.95)
2 2
THREE-PHASE
6- Consider the problem of ripple in the output current of a threephase square-wave inverter. Assume (VLL )1 = 220 V at a frequency of 52
Hz and the type of load is as shown in Fig.4.25a with L = 100 mH.
Calculate the peak ripple current defined in Fig.4.26a.
7- Repeat Problem 6 if the inverter of Problem 6 is operating in a
synchronous PWM mode with m f = 39 and ma = 0.8 . Calculate the
peak ripple current defined in Fig.4.26b.
8- In the three-phase, square-wave inverter of Fig.4.24a, consider the
load to be balanced and purely resistive with a load-neutral n. Draw the
SWITCH-MODE dc-ac
201
Chapter 5
dc MOTOR DRIVES
5.1 INTRODUCTION
Traditionally, dc motor drives have been used for speed and position
control applications. In the past few years, the use of ac motor servo
drives in these applications is increasing. In spite of that, in applications
where an extremely low maintenance is not required, dc drives continue
to be used because of their low initial cost and excellent drive
performance.
(5.1)
dc MOTOR DRIVES
201
(5.2)
(5.3)
(5.5)
In steady state,
Pe = Pm
(5.6)
Therefore, from the foregoing equations
Nm
V
kt
= ke
(5.7)
A.Wb
Wb . rad / sec .
In practice, a controllable voltage source vt is applied to the armature
terminals to establish ia . Therefore, the current ia in the armature circuit
is determined by vt , the induced back-emf ea , the armature-winding
resistance Ra , and the armature-winding inductance: La
(5.8)
The interaction of Tem with the load torque, determines how the motor
speed builds up:
d m
(5.9)
Tem = J
+ B m + TWL (t )
dt
where J and B are the total equivalent inertia and damping, respectively,
of the motor load combination and TWL is the equivalent working torque
of the load.
Seldom are dc machines used as generators. However, they act as
generators while braking, where their speed is being reduced. Therefore,
it is important to consider dc machines in their generator mode of
operation. In order to consider braking, we will assume that the flux f
is kept constant and the motor is initially driving a load at a speed of m .
To reduce the motor speed, if vt is reduced below ea in Fig.5.2, then the
current ia will reverse in direction. The electromagnetic torque Tem
given by Eq. 5-2 now reverses in direction and the kinetic energy
associated with the motor load inertia is converted into electrical energy
by the dc machine, which now acts as a generator. This energy must be
somehow absorbed by the source of v, or dissipated in a resistor.
During the braking operation, the polarity of ea does not change, since
the direction of rotation has not changed. Eqn.(5.3) still determines the
magnitude of the induced emf. As the rotor slows down, ea decreases in
dc MOTOR DRIVES
203
R
1
Vt a Tem
(5.13)
kE
kT
The plot of this equation in Fig. 5-4b shows that as the torque is
increased, the torque-speed characteristic at a given Vt is essentially
vertical, except for the droop to the voltage drop IaRa across the
armature-winding resistance. This droop in speed is quite small in
integral horsepower dc motors but may be substantial in small servo
motors. More importantly, however, the torque-speed characteristics can
be shifted horizontally
m =
dc MOTOR DRIVES
205
Figure 5-5 Separately excited dc motor: (a) equivalent circuit; (6) continuous
torque-speed capability.
dc MOTOR DRIVES
207
(5.20)
These equations for the motor-load combination can be represented by
transfer function blocks, as shown in Fig.5.7. The inputs to the motorload combination in Fig. 5.7 are the armature terminal voltage Vt (s ) and
the load torque TWL (s ) . Applying one input at a time by setting the other
input to zero, the superposition principle yields (note that this is a
linearized system)
(5.21)
This equation results in two closed-loop transfer functions:
(5.22)
dc MOTOR DRIVES
209
(5.23)
Fig.5.7 Block diagram representation of the motor and load (without ay feedback).
(5.24)
We will define the following constants:
(5.25)
Using m and e in the expression for G1 (s ) yields
(5.26)
(5.27)
Since in general m >> e , it is a reasonable approximation to replace
s m by s ( m + e ) in the foregoing expression. Therefore
(5.28)
The physical significance of the electrical and the mechanical time
constants of the motor should also be understood. The electrical time
constant e , determines how quickly the armature current builds up, as
shown in Fig.5-8, in response to a step change vt in the terminal voltage,
where the rotor speed is assumed to be constant.
Figure 5-8 Electrical time constant Te; speed cam is assumed to be constant.
(5.29)
(5.30)
where m is the mechanical time constant with which the speed changes
in response to a step change in the terminal voltage, as shown in Fig.5.9a.
The corresponding change in the armature current is plotted in Fig.5.9b.
Note that if the motor current is limited by the converter during large
transients, the torque produced by the motor is simply kT I a, max .
dc MOTOR DRIVES
211
dc MOTOR DRIVES
213
dc MOTOR DRIVES
215
dc MOTOR DRIVES
217
dc MOTOR DRIVES
219
dc MOTOR DRIVES
221
dc MOTOR DRIVES
223
PROBLEMS
1- Consider a permanent-magnet dc servo motor with the following
parameters:
Chapter 6
e = E m sin t
, 2
e L = E m sin t |
, +
, 2
eT = E m sin t |
, +
, +
+|
0,
, +
+|
0,
a0
a
+ a n cos nt + bn sin nt = 0 + C n sin(n t + )
2 n =1
2 n =1
a0
1 2
=
eL (t ) dt = Average value
2 2 0
For fundamental component :1 2
1 2
a1 = e L (t ) cos t dt ,
b1 = e L (t ) sint dt
where,
1 = tan 1
a1
= displacement angle between the fundamental and
b1
bn =
e L (t ) sin nt dt
e L (t ) cos t dt =
Em
(cos 2 1)
2
Em
(2 ( ) + sin 2 )
2
E
c1 = m (cos 2 1) 2 + [2 ( ) + sin 2 ]2
2
a
cos 2 1
1 = tan 1 1 = tan 1
b1
2( ) + sin 2
b1 =
1
2
eL 2 (t ) dt
Em 2
1 ,2
2
(
sin
=
[ 2 ( ) + sin 2 ]
E
t
d
t
m
2 , +
4
E
1
[2( ) + sin 2 ]
EL = m
2 2
EL 2 =
225
1 2
eL i dt = Average value of instantaneous volt amp product.
2 0
= Average power
P=
= I L2 R =
=
EL 2
where I L & E L are the r.m.s. values
R
E2
[2( ) + sin 2 ]
2R
1 2
( E L1 + E L23 + E L25 + .......)
R
cos 1 =
2 R
In general,
PF =
b1
c1
Power Factor in systems with sinusoidal voltage (at supply) but nonsinusoidal current
i (wt ) is periodic in 2 but is non-sinusoidal.
Average power is obtained by combining in-phase voltage and current
components of the same frequency.
P = E I1 cos 1
PF =
P
E I1 cos 1 I1
=
= cos 1
EI
EI
I
Z = R 2 + 2 L2 ,
= tan 1
L
R
Steady-state at
227
= 0 (sinusoidal operation)
Em
itrans (t ) =
sin( )e
Z
R
(t )
E
itrans (t ) = m sin( )e L
For t > ,
Z
Complete solution for first cycle
(t + )
E
i (t ) = m [sin(t ) 0x, ,, x,+2 + sin( + )e t
Z
sin( )e
R
(t )
x
t
+ sin( )l
x
0
R
(t )
2
L
+
(t )
E
E
i (t ) = m sin(t ) m sin( )e L
Z
Z
But at t = , i (t ) = 0 , hence
( x )
E
E
0 = m sin( x ) m sin( )e L
Z
Z
229
Em
R
0 and
= cot
0 = sin( x ) sin( )e cot( x )
Z
L
If and are known, x can be calculated. However, this is a
transcendental equation (i.e. cannot be solved explicitly and no way of
obtaining x = f ( , ) ).
Method of solution is by iteration,
e.g. If = 600, = 1200 = 2 / 3, cot = 0.578
But
0.578( x
2
)
3
x = 2220
x = 180 0 + 60 0 15 0 = 225 0
x = 180 0 + 60 0 20 0 = 220 0
or
Load voltage
N
T
E2 N
N
P
Power Factor =
= R T =
T
EI
E N
E
R T
6.6 Advantages and Disadvantages of Integral cycle Control
Advantages
1. Avoids the radio frequency interference created by phase - angle
switching .
2. Able to switch the loads with a large thermal time const .
Disadvantages
1. Produces lamp flicker with incandescent lighting loads.
2. Inconsistent flashing with discharge lighting.
3. Not suitable for motor control (because of interruption of motor
current)
4.
Total supply Distortion is greater than for symmetrical phase
control.
Problems Of Chapter 2
1- Single phase half-wave diode rectifier is connected to 220 V, 50 Hz
supply to feed 5 pure resistor. Draw load voltage and current and
diode voltage drop waveforms along with supply voltage. Then,
calculate (a) The rectfication effeciency. (b) Ripple factor of load
voltage. (c) Transformer Utilization Factor (TUF) (d) Peak Inverse
Voltage (PIV) of the diode. (e) Crest factor of supply current.
2-
3-
vs
Ed
-
4-
5-
The voltage v across a load and the current i into the positive
polarity terminal are as follows:
v(t ) = Vd + 2 V1 cos(t ) + 2 V1 sin (t ) + 2 V3 cos(3t )
i (t ) = I d + 2 I1 cos(t ) + 2 I 3 cos(3t )
Calculate the following:
(a) The average power supplied to the load.
(b) The rms value of v(t ) and i (t ) .
(c) The power factor at which the load is operating.
6-
7-
8-
9-
15- Solve problem 14 if the load is 45A pure DC current. Then find
THD of supply current and input power factor.
iS
Vd
VS
f = 50 Hz
200V
120o
60
120
60o
60
10
120
Problems Of Chapter 3
1- Single phase half-wave controlled rectifier is connected to 220 V,
50Hz supply to feed 10 resistor. If the firing angle = 30 o draw
output voltage and drop voltage across the thyristor along with the
supply voltage. Then, calculate, (a) The rectfication effeciency. (b)
Ripple factor. (c) Peak Inverse Voltage (PIV) of the thyristor. (d) The
crest factor C F of input current.
11
12
13
14
15
16
Problems Of Chapter 4
1- In a single-phase full-bridge PWM inverter, the input dc
voltage varies in a range of 295-325 V. Because of the low
distortion required in the output vo , ma 1.0
(a) What is the highest Vo1 , that can be obtained and stamped on
its nameplate as its voltage rating?
(b) Its nameplate volt-ampere rating is specified as 2000 VA, that
is, Vo1, max I o1, max = 2000VA , where io is assumed to be sinusoidal.
Calculate the combined switch utilization ratio when the inverter is
supplying its rated volt-amperes.
18
19
20
21
THREE-PHASE
6- Consider the problem of ripple in the output current of a threephase square-wave inverter. Assume (VLL )1 = 220 V at a frequency
of 52 Hz and the type of load is as shown in Fig.25a with L = 100
mH. Calculate the peak ripple current defined in Fig.26a.
22
23
24
25
Problems Of Chapter 5
1- Consider a permanent-magnet dc servo motor with the following
parameters:
26
27
28
29
30
31
32
33