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DC Drives
Learning
Objectives
At the end of this Chapter, you should be able to :
Analyze the operation and control of phase controlled
SCR converters for DC Motor Drive
Analyze the operation and control of DC-DC
converters for DC Motor Drive
Model and analyze the closed-loop control system for
DC motor drive system
Power Electronic
Controllers for
DC ofDrives
There are two types
power electronic
controllers for DC motor control. They are:
(A) Phase Controlled SCR Converter
DC Drives
(B) DC-DC Converter Controlled DC
Drives
Series
Self
Excited
Shunt
Threephase
Drives
Separately
Excited
Series
Compound
Self
Excited
Shunt
4
1
Ia
T
t1 T
t1
i a (t ) dt
1 t1 T ( t ) 2
I ar i a dt
T t1
1
2
I I1
HF
I1
1
2
HF
n2
I1
1
2
Ih
I1
I 0 2I n sin(n t n )
n 1
The d.c. component, I0, and Fourier coefficients an, bn are obtained as:
1 T
I0
i dt
T 0
2 T
an i cos(n t ) dt
T 0
2 T
bn
i sin(n t ) dt
T 0
an2 b
I n
2
1
2
an
bn
n tan 1
10
erformance Parameters
Vac
Voltage ratio: , where Vd 0 maximum dc voltage( 0)
Vd0
I rms
Input rms current
Current ratio:I
output dc current
d
Power ratio:
Pd
DC output power
Harmonic contents:
voltage,
a. ac components in output
11
SCR devices:
I SCR
Id
SCR current
dc load current
I SCR
peak SCR current
Id
dc load current
VPIV
Peak Inverse Voltage of SCR
Vd0
maximum dc voltage( 0)
13
Single-Phase Converter
Controlled SeparatelyConverter
SCR Full-Bridge
Converter
(2-pulse converter)
Excited
DC Motor
Drive
Input supply to converter 1-phase AC, 50 Hz.
Switches are marked in clockwise direction.
AC
DC
15
Mathematical Derivations
The armature circuit equation from KV Law
dia
va ea Ra ia La
eg
dt
Let v 2 Vac sin where V ac rms input voltage to the converter
The avearge motor terminal voltage, Ea (from waveform)
1
Va Vdc
2 Vac sin d
2 Vac
[ cos ]
2 Vac
[ cos( ) cos ]
2 2 Vac
Va
cos
16
Mathematical Derivations
2 2 Vac
Average motor terminal voltage, Va
cos
Performance
parameters
2 2Vac
2 2Vac
Max Va( = 0) = Vdc( = 0 ) = Vd 0 =
.1 =
Vac
=
= 1.11
Vd 0 2 2
and, Vdc = Vd 0 cos
Peak Inverse Voltage , VPIV =
2Vac
VPIV
2 Vac
=
= / 2 = 1.57
Vd 0
Vd 0
17
Mathematical Derivations
For a normal motor, Average speed, if flux is constant
Va I a R a
rad sec 1
Kv
Va
Ra
2 2 Vac
Average motor terminal voltage, Va
cos
Va =
voltage
applied
to
armatur
e.
2 2 Vac
cos I a R a
Kv
rad sec 1
2 2 Vac
cos
Ra
18
= 0.04 ohm
19
1- phase, full-controlled
bridge converter
do
1.11
rms d
do
1.11
SCR d
0.5
SCR
PIV
Factor
1
1.57
1.11
(=90o)
Factor
0.484
20
Solution: (a)
2 2000
==
= 209.4 rad/ s
60
1
209
.
4
rads
1
Base speed = b = B = = 104.7 rad /s
2
1
1
104
.
7
rad
sec
B
V
Back emf , Ea = k v = 0.5
(1000 rpm ) = 500 V 2
rpm
Pout
Ia =
= 1000 A.
Ea
If
2000
= 540 V
2
21
Speed
Field
weakening
Torque
(b)
Firing delay angle, when starting from stand still with T 6 kN . m .
0 rads 1 (standstill)
T
6 kN . m
Ia
24
Solution:
2 2 Vac
cos
rpm
= 202.82 V
Va - IaR a
202.82 - 38 x 0.3
Speed, N =
=
rpm
K a
0.182
= 1051.8 rpm
25
Half-wave(Single-quadrant operation)
Conduction pattern:
1
Va = Vd =
Vmax sin d
2 / 3
+
for
30
3 3 Vmax
=
(1 + 0.866 cos - 0.5 sin )
2 5
+
3
1
6
Va =
Vmax sin d =
2 / 3
+
3 Vmax
cos for < 30
2
Half-wave(Two-quadrant operation)
Conduction pattern:
29
2 / 3
+
6
5
+
3 Vmax
6
=
[- cos ]
2
+
6
sin d
30
=
[- cos( + ) + cos( + )]
2
6
6
3 Vmax
5
5
=
[- cos cos + sin sin + cos cos - sin sin ]
2
6
6
6
6
3 Vmax
=
[0.866 cos + 0.5 sin + 0.866 cos - 0.5 sin ]
2
3 Vmax
Va =
( 3 cos )
2
3 3 Vmax
Va =
cos
2
If Vac = rms phase voltage, then Vmax = 2 Vac
dc
3-phase input
voltage
Armature
voltage
Armature
current
Input line
current
35
va = ea = R a i a + La
+ eg
+ < < ++
dt
6
6
3
Let the voltage between the lines be VLL
The waveform for calculation of averagevol tage,
define as a cosine wave : 2 VLL cos
The avearge motor terminal voltage, Va ( from waveform )
1
+
6
Va = Vdc =
/ 3 - +
6
2 VLL cos d
+
2 VLL
[sin ] 6
- +
6
36
3 2 VLL
=
[sin( + ) - sin(- + )]
6
6
3 2 VLL
Va =
[sin cos + cos sin - sin(- ) cos + cos(- ) sin ]
6
6
6
6
Va =
Va =
2 VLL
2 sin cos
2 VLL
cos
Vac/Vdo
Irms/Id
VA/Pdo
ISCR/Id
^
ISCR/Id
VPIV/Vd
Output
Voltage
Harmonic
Factor
Input
Current
Harmonic
Factor
2.22
0.707
1.57
0.5
3.14
1.21
(=0o)
1.21
1.11
1.11
0.5
1.57
0.626
(=45o)
0.484
Bi-phase, Two-quadrant
1.11
0.707
1.57
0.5
3.14
1.11
(=90o)
0.484
1.11
1.11
0.5
1.57
1.11
(=90o)
0.484
0.855
0.577
1.48
0.333
2.09
0.464
(=60o)
1.09
0.855
0.577
1.48
0.333
2.09
0.66
(=90o)
0.425
0.427
0.816
1.047
0.333
1.045
0.3
(=90o)
0.306
Vdo
3 Vmax
2
Switched-mode drives
Using switched mode DC-DC converter, DC voltage is
varied by duty cycle.
Mainly used for low to medium power range
Single-quadrant converter (buck):1-quadrant
Half-bridge: 2-quadrant
Full-bridge: 4-quadrant
42
PWM Operation
Conduction pattern:
45
Vs = dc source voltage,
Vd = output voltage of the converter
k T = on - time of the converter ,
(1 - k)T = off - time of the converter
1
T = time period of the converter = , where f s = switching frequency
fs
k = duty ratio
Vsk T
'
Vd = V =
= kVs
T
Is = I' = k Id
e . g., Vs = 100 V, Vd = 10 V, Id = 50 A, k = 0.1
Is = 5 A (assuming no losses)
Example:
47
ID
10A
.634ms
.366ms
Time
49
Choke design :
PWM frequency = 1 kHz (T = 1 ms)
Design to achieve 1A peak - to - peak ripple (typical)
ON period : Inductor voltage
di
I
VL = L
L
dt
T
T (Vs VT ) k(1ms)
L = VL
=
= 22.2 mH
I
1
Check by analyzing the OFF period :
VL T
I =
=
L
0.7(1
k) T
= 1.0007 A
22.2 mH
51
52
54
Waveforms with allowances for transistor and diode voltage drops, and
for transistor switching times.
55
Ts
1
2
'
1
2
[(2 k Ts t R t F )](Vs 2 VT )
Vd V
Ts
'
1
2
1
2
Example:
The mass of an electric vehicle as shown in FIGURE is 500 kg, The vehicle
is going up a slope of 30o at a speed of 30 km/hr. The friction coefficient of the
surface at a given weather condition is 0.4. The acceleration due to gravity, g =
9.8 ms-2. The electric vehicle is being powered by a DC motor mounted on the
front wheels and the wheel diameter is 0.5 m. A reduction gear of 50:1 is used.
The motor takes 72 V with constant excitation, and is controlled by a twoquadrant transistor PWM dc-dc converter. The dc motor on board the vehicle
runs at 800 rpm. The following characteristics apply to the system:
Solution:
Data:
Mass of the bus, m = 500 kg
Wheel diameter, d = 0.5 m
Speed of the bus, v = 30 km/hr
Slope of the hill, = 30o
Friction coefficient, r = 0.4
Acceleration due to gravity, g = 9.8
-2
(a) The weightms
of vehicle is divided into two components:
(i) Perpendicular to the road surface (force F), responsible for friction
force, Fr
(ii) Parallel to the surface, responsible for pulling the vehicle towards
bottom of the slope, Fl
The total force, FL= Fl + Fr
All these forces are dependent on the gravitational force, Fg
Considering the force diagram, the normal force, F and pulling force, Fl are
F = Fg cos
Fl = Fg sin
(c)
To find the duty ratio (PWM ratio), k
Input voltage to the converter, Vs 72 V
Output voltage of the converter, Va 43.908 V
Input voltage to the motor
Vd Va
1
2
1
2
43.908 V
[(2 k Ts t R t F )](Vs 2 VT )
Ts
-6
200x10
-6
-6
1
[(
2
(
1
k
)
200x10
4
x10
)](72 1.4)
2
200x10 -6
43.908 x 200x10 -6 (68 x 200x10 -6 k - 68 x 2x10 -6 )
1
2
k 0.829
Va
Rf
Va
Rf
Va
R
a Tdb
k v k v kT
I ab
Va Eab
Ra
I ab
Tdb
A
kT
Va
Ra
Va Ra I ab
b
( I ab k T )
rad sec -1
k v k v kT
kv
The speed will be greater than the no - load speed.
The generated power, Pb E ab ( I ab ) E ab I ab W
Solution:
During regenerative braking mode, the armature
current is reversed.
( I ab kT )
rad sec -1
kv
k v kT
kv
440 0.377 x 60
b
117.72 rad sec -1
3.93
ii. Developed torque
Tdb kT I ab 3.93 x 60 - 235.8 Nm
iii. Induced emf
Eab k vb 3.93 x 117.72 462.64 V
iv. Terminal current
I Lb I ab I f I ab
Va
440
60
56 A
Rf
110
v. Generated power
Pb Eab ( I ab ) Eab I ab 462.64 x 60 27760 W
74
Revision:
-Characteristic of DC Motor
-Controlled by supply voltage/current and
excited voltage/current ( depend on configuration)
-Single Phase Controller Converter
- Half wave
-Semi converter
-Full converter
-Dual converter
-Freeweeling diode effect
-Determine average voltage and rms voltage
Controlling Techniques
-SCR technique
-Single phase
-3 phase
-3 pulse converter
-6 pulse converter
-PWM
-Single quadrant
-Double/second quadrant
-Fourth quadrant