Chapter 2 Det50063 - Speed Control of DC Motor
Chapter 2 Det50063 - Speed Control of DC Motor
Chapter 2 Det50063 - Speed Control of DC Motor
Basic equation
𝑃𝑑 is power developed
𝑇𝑑 is torque developed
V0 = f. Ton .Vs
f= 1/T = chopping frequency
Show current limit controlled choppers for separately excited DC motor
Chopper For DC Motor Drives
• First Quadrant
Chopper For DC Motor Drives
• It is known as first-quadrant chopper
or type A chopper. When the chopper
is on, v0 = VS as a result and the current
flows in the direction of the load. But
when the chopper is off v0 is zero but
I0 continues to flow in the same
direction through the freewheeling
diode FD, thus average value of
voltage and current say V0 and I0 will
be always positive as shown in the
graph.
• In type A chopper the power flow will
be always from source to the load. As
the average voltage V0 is less than the
dc input voltage Vs
• When chopper is ON, supply voltage V is connected across the
load.
• When chopper is OFF, vO = 0 and the load current continues to
flow in the same direction through the FWD.
• The average values of output voltage and current are always
positive.
• Class A Chopper is a step-down chopper in which power
always flows form source to load.
• It is used to control the speed of dc motor.
• The output current equations obtained in step down chopper
• with R-L load can be used to study the performance of Class A
Chopper
Chopper For DC Motor Drives
• second Quadrant
Chopper For DC Motor Drives
• In type B or second quadrant chopper
the load must always contain a dc
source E .
• When the chopper is on, v0 is zero
but the load voltage E drives the
current through the inductor L and
the chopper, L stores the energy
during the time Ton of the chopper .
• When the chopper is off , v0 =( E+ L
. di/dt ) will be more than the source
voltage Vs . Because of this the diode
D2 will be forward biased and begins
conducting and hence the power
starts flowing to the source.
Chopper For DC Motor Drives
• No matter the chopper is on or off the current I0 will be flowing out
of the load and is treated negative . Since VO is positive and the
current I0 is negative , the direction of power flow will be from load to
source.
• The load voltage V0 = (E+L .di/dt ) will be more than the voltage
Vs so the type B chopper is also known as a step up chopper .
• When chopper is ON, E drives a current through L and
R in a direction opposite to that shown in figure.
• During the ON period of the chopper, the inductance L
stores energy.
• When Chopper is OFF, diode D conducts, and part of
the energy stored in inductor L is returned to the
supply.
• Average output voltage is positive and average output
current is negative.
• In this chopper, power flows from load to source.
• Class B Chopper is used for regenerative braking of dc
motor.
• Class B Chopper is a step-up chopper.
Chopper For DC Motor Drives
• Two Quadrant operation
Chopper For DC Motor Drives
• Type C chopper is obtained by connecting type –
A and type –B choppers in parallel.
• We will always get a positive output voltage V0 as the
freewheeling diode FD is present across the load.
• When the chopper is on the freewheeling diode starts
conducting and the output voltage v0 will be equal to
Vs .
• The direction of the load current i0 will be reversed.
The current i0 will be flowing towards the
source and it will be positive regardless the chopper
is on or the FD conducts.
• The load current will be negative if the chopper is or
the diode D2 conducts. We can say the chopper and
FD operate together as type-A chopper in first
quadrant. In the second quadrant, the chopper and
D2 will operate together as type –B chopper.
• Class C Chopper is a combination of Class A and Class
B Choppers.
• For first quadrant operation, CH1 is ON or D2 conducts.
• For second quadrant operation, CH2 is ON or D1
conducts.
• When CH1 is ON, the load current is positive.
• The output voltage is equal to ‘V’ & the load receives
power from the source.
• When CH1 is turned OFF, energy stored in inductance L
forces current to flow through the diode D2 and the
output voltage is zero.
• Current continues to flow in positive direction.
• When CH2 is triggered, the voltage E forces current to
flow in opposite direction through L and CH2
• The output voltage is zero.
• On turning OFF CH2, the energy stored in the inductance
drives current through diode D1 and the supply Output voltage
is V, the input current becomes negative and power flows from
load to source.
• Average output voltage is positive
• Average output current can take both positive and negative
values.
• Choppers CH1 & CH2 should not be turned ON simultaneously
as it would result in short circuiting the supply.
• Class C Chopper can be used both for dc motor control and
regenerative braking of dc motor.
• Class C Chopper can be used as a step-up or step-down
chopper.
A. K. Gautam
Chopper For DC Motor Drives
• Two Quadrant operation
Chopper For DC Motor Drives
• When the two choppers are on the output voltage v0 will be equal to Vs . When
v0 = – Vs the two choppers will be off but both the diodes D1 and D2 will start
conducting.
• V0 the average output voltage will be positive when the choppers turn-on the
time Ton will be more than the turn off time Toff its shown in the wave form below.
• As the diodes and choppers conduct current only in one direction the direction
• The power flows from source to load as the average values of both v0 and i0 is
positive. From the wave form it is seen that the average value of V0 is
positive thus the forth quadrant operation of type D chopper is obtained.
• From the wave forms the Average value of output voltage is given by
V0= (Vs Ton-VsToff)/T = Vs.(Ton-Toff)/T
• n of load current will be always positive.
• Class D is a two quadrant chopper.
• When both CH1 and CH2 are triggered simultaneously, the
output voltage vO = V and output current flows through the
load.
• When CH1 and CH2 are turned OFF, the load current
continues to flow in the same direction through load, D1
and D2, due to the energy stored in the inductor L.
• Output voltage vO = - V
• Average load voltage is positive if chopper ON time is
more than the OFF time
• Average output voltage becomes negative if tON < tOFF .
• Hence the direction of load current is always positive but
load voltage can be positive or negative.
A. K. Gautam
Chopper For DC Motor Drives
• Four Quadrant operation
• Class E is a four quadrant chopper
• When CH1 and CH4 are triggered, output current
iO flows in positive direction through CH1 and
CH4 , and with output voltage vO = V.
• This gives the first quadrant operation.
• When both CH1 and CH4 are OFF, the energy
stored in the inductor L drives iO through D2 and
D3 in the same direction, but output voltage vO = -
V.
• Therefore the chopper operates in the fourth
quadrant.
• When CH2 and CH3 are triggered, the load current iO
flows in opposite direction & output voltage vO = -V.
• Since both iO and vO are negative, the chopper
operates in third quadrant.
• When both CH2 and CH3 are OFF, the load current iO
continues to flow in the same direction D1 andD4 and
the output voltage vO = V.
• Therefore the chopper operates in second quadrant as
vO is positive but iO is negative.
Chopper For DC Motor Drives
• Type E or the fourth quadrant chopper consists of four semiconductor
switches and four diodes arranged in antiparallel.
• The 4 choppers are numbered according to which quadrant they
belong. Their operation will be in each quadrant and the
corresponding chopper only be active in its quadrant.
Chopper For DC Motor Drives
• First Quadrant
• During the first quadrant operation the chopper CH4 will be on .
Chopper CH3 will be off and CH1 will be operated. AS the CH1 and
CH4 is on the load voltage v0 will be equal to the source voltage
Vs and the load current i0 will begin to flow . v0 and i0 will be positive
as the first quadrant operation is taking place. As soon as the chopper
CH1 is turned off, the positive current freewheels through CH4 and
the diode D2 . The type E chopper acts as a step- down chopper in
the first quadrant.
http://www.circuitstoday.com/types-of-chopper-circuits
Chopper For DC Motor Drives
• Second Quadrant
• In this case the chopper CH2 will be operational and the other three
are kept off. As CH2 is on negative current will starts flowing through
the inductor L . CH2 ,E and D4. Energy is stored in the inductor L as
the chopper CH2 is on.
• When CH2 is off the current will be fed back to the source through
the diodes D1 and D4. Here (E+L.di/dt) will be more than the source
voltage Vs . In second quadrant the chopper will act as a step-up
chopper as the power is fed back from load to source
http://www.circuitstoday.com/types-of-chopper-circuits
Chopper For DC Motor Drives
• Third Quadrant
• In third quadrant operation CH1 will be kept off , CH2 will be on and
CH3 is operated. For this quadrant working the polarity of the load
should be reversed.
• As the chopper CH3 is on, the load gets connected to the
source Vs and v0 and i0 will be negative and the third quadrant
operation will takes place. This chopper acts as a step-down chopper
http://www.circuitstoday.com/types-of-chopper-circuits
Chopper For DC Motor Drives
• Fourth Quadrant
• CH4 will be operated and CH1, CH2 and CH3 will be off. When the chopper
CH4 is turned on positive current starts to flow through CH4, D2 ,E and the
inductor L will store energy.
• As the CH4 is turned off the current is feedback to the source through the
diodes D2 and D3 , the operation will be in fourth quadrant as the load
voltage is negative but the load current is positive. The chopper acts as a
step up chopper as the power is fed back from load to source.
http://www.circuitstoday.com/types-of-chopper-circuits