Conference on Advances in Communication and Control Systems 2013 (CAC2S 2013)

Performance Study of Power Control Method for Chopper Fed Separately Excited DC (Direct
Current)-Drive using PSIM

Anant Kumar Verma

Electrical Department, Dehradun Institute of Technology, Dehradun,
Uttrakhand, INDIA

Gagan Singh
Electrical Department, Dehradun,
Uttrakhand, INDIA
E-mail: [email protected]
www.dit.edu.in

Abstract

This paper presents conventional Power control method for Separately Excited DC motor using specifically
designed simulation software package PSIM for Power Electronics and motor control. Armature voltage control is
preferred because of high efficiency and good speed regulation for dc motors. The speed control of separately
excited dc drive can be done using four quadrant chopper up to rated speed. Choppers are widely used for traction
motor control in transportation systems. Power control interprets as FORWARD/REVERSE MOTORING of DC
drive.

Keywords: DC drive, Choppers, PSIM, Simulation, Power (acceleration) control.

proposed in [1], we have focused on the controlling

1. Introduction methods for DC drive with the help of DC-Choppers.
In traction applications Dc-Dc converters (or choppers) The various control methods applicable to DC drives
are used all over the world. A wide range of control (only for DC-DC converter drives) are as follows:
methods are present and hence Dc-Dc converters
provide very effective armature control. For having a  Power control (or acceleration) Control (PC).
proper control over a DC motor, it’s a necessary  Regenerative Brake Control.
condition to have a rectified AC supply or DC supply at  Rheostatic Brake control.
motor’s armature terminals. In present scenario DC  Combined Regenerative and Rheostatic Brake
motors are best suited for their good speed regulation Control (CRRBC).
for accelerating or decelerating motions. Complexity of
AC drives as compared to DC drives is much higher, 1.1. DC Chopper
hence affecting the cost of maintenance and controlling
of the AC drive. Dc motors are capable of providing It is a power electronic device, static in nature. The most
very high starting and accelerating torques in access of basic work of the chopper arrangement circuit is to
400% of the rated [1]. In order to understand the work change constant Dc voltage to an adjustable Dc voltage

© 2013. The authors - Published by Atlantis Press 290

ANANT KUMAR VERMA

without any intermediate energy storage element

(inductor/ capacitor). A quasi-rectangular version of the
input DC voltage is obtained as a output of a chopper
after input voltage is chopped off for a certain duration.
Types of DC-choppers available according to their
output Vo(output voltage)-Io(output current)
capabilities are as follows :

 First quadrant I +Vo +Io

 Second quadrant II +Vo -Io
 Two quadrant I and II +Vo +Io,-Io
 Two quadrant I and IV +Vo,-Vo +Io
 Four quadrant I,II,III, +Vo,-Vo +Io,-Io Fig. 1. Equivalent circuit of Dc armature [2].
and IV
load torque at a particular speed. The field current “ ”
of a separately excited DC motor is independent of the
The basic Four quadrant chopper type is selected for the
purpose to be severed for controlling a DC drive also
known as the “H-BRIDGE CHOPPER”[4]. The major
circuit consists of four MOSFETs which forms a H –
bridge, hence provides variable DC voltage for our
Load known to us as Separately excited DC motor. The
power semiconductor device MOSFET is so chosen
because of its high switching speeds and 0.5 to 2.5 volt
drop across them. Also, many other available devices Fig. 2. separately excited dc motor with field winding [2].
can serve the purpose.
armature current “ ” and any change in the armature
2. Literature review current has no effect on the field current. The field
Due to the recent advancement in the power electronics current is normally much less than the armature
and power conversion methods including the digital current.[3]
computers the AC motor drives are enhancing into a The equation of a separately excited DC motor can be
competitive world in respect to the DC motor drives. determined using fig.3.
DC-DC converters are boon to the power electronics
controlled systems. Since their ability to provide
continuously variable DC voltage, DC-DC converters
are used for control equipment in modern industrial
drives and variable-speed drives. DC drives can be
distinguished into three general types:

 Single-phase drives.
 Three- phase drives.
 DC-DC-Converter Drives.

2.1.1 General characteristics of a Dc motor

When separately excited DC motor is excited by a field

current of “ ” and an armature current of “ ” flows in
the armature circuit, The motor develops a back
electromotive force(emf) and a torque to balance the
Fig. 3. separately excited dc motor [3].

291
 DC-Drive Control Using PSIM

The armature equivalent circuit consists of a From above discussion we reach to a conclusion that the
armature resistance Ra, self inductance La, and an power flow can be controlled by using controlled
induced emf. The input in case of motors is parameters. The power control can be done by two
Electrical energy and output is Mechanical energy. operations:
2.1.2 Operating principle of a chopper
 Constant Frequency Operation: In this
As the name suggests, the chopper is a operation, switching frequency is kept constant
semiconductor device (switch) which provides a and Ton is varied. Effect of this method
keen relationship between input and output changes the width of the controlling pulse and
parameters at fast switching rate therefore at times therefore called Pulse Width Modulation
when the switch is on the input will be connected to (PWM) control.
the load ,when switch is off the load is disconnected  Variable Frequency Operation: In this
from the input. Now to understand the concept in a operation, switching frequency is varied and
better way we will analyze the input/output Ton or Toff is kept constant. Also known as
relationship through waveforms provided below in Frequency Modulation.
Fig. 4. to a single semiconductor switch, hence forth
we can judge what are the parameters which are
controllable for our purpose, So as to produce 3. Buck and Boost Converters
variable DC output.
At this stage, it is necessary to learn about the
conventional converters used in the power electronic
systems (PES). A clear concept about these converters
leads a path towards designing a four quadrant chopper.
Step down (buck) switching converters are the integral
part of the modern electronics. Step down converters
transfer small packets of energy using a switch, a diode,
an inductor and several capacitors. (refer fig.5.)

Step up (boost) switching converters transfers large

Fig. 4. Circuit and waveform [1],[6],[3].

Average Voltage,

(1)
(2)
Fig. 5. Buck converter [5].
(3)
(4) packets of energy using similar devices as mentioned
for buck converters but with slight changes in the circuit
arrangements.(refer fig.6.)
Uncontrolled parameters:
 Vs= source voltage.

Controlled parameters:

 = Duty ratio.
 T= Ton+Toff =Chopping period.
 Ton =ON period.
 Toff=OFF period.
 f=1/T= Chopping Frequency. Fig. 6. Boost converter [5].

292
ANANT KUMAR VERMA

Average output voltage of Buck converter in terms of

duty ratio.
(11)
(5)

Similarly,
Average output voltage of Boost converter in terms of For boost converter final state model will be:
duty ratio.
(6) (12)

The capacitor and an inductor present in the buck (or

boost) system provides us a knowledge, to learn our
5. Four Quadrant Chopper (4Q) Operation
designed systems characteristics under dynamic
conditions such as fast switching rate of the Switch and As we have thoroughly understood the concepts of
other disturbances present due to load changes or choppers, their types and dynamic modeling. It will be
environmental effects. Hence, State Space tool for easier for us now to predict the H-bridge chopper results
modeling systems is very much suited for dynamical visually going through the circuit diagram. The four
behavior of a system. quadrant operation of choppers is wholly dependent on
the buck and boost converter operations.

4. Mathematical modeling of Buck and Boost

Converters in State Space for the Dynamic
behavior
Assuming that parameter shown in Fig .5 and Fig .6
Are analogous to our present conventional relationship
for input and output variables. Here

Fig. 7. Four quadrant (4Q) circuit diagram.

Applying Kirchoff’s voltage law assuming switching 1st quadrant mode:

(S=1) on both the converters separately we arrive to
 Switch Q4 is kept on and Q1 is modulating.
mathematical model in state space [5] ,[12].
Q1-ON Q1-OFF
(7) Current V-Q1-R-L- R-L-E-S4-D2
(8) direction E-Q4
For(S=1):
 Va and Ia are +ve.
 Step Down Chopper.
(9)
2nd quadrant mode:
 Switch Q2 is modulating and Q1,Q3,Q4 are
For (S=0): kept off.
 Inductor L stores energy during the time Q2 is
on.
(10)
Current direction E-L-R-Q2-D4
 Va is +ve and Ia is –ve.
Final state model after combining equation no. 9 and 10  Step Up Chopper.
is as follows:
3rd quadrant mode:
 Switch Q3 is modulating, Q1 is kept off , and
Q2 is kept on.

293
 DC-Drive Control Using PSIM

 Polarity of E must be reversed , when Q3 is By varying the Duty –cycle K, the power flow to the
load gets connected to source voltage hence motor (and speed) can be controlled.
both Va and Ia becomes –ve .
 Current freewheels through Q2 and D4 as Q3 7. Mathematical Model of Separately Excited
is off. DC Motor [3]
 Step Down Chopper. In contrast for every minute detail explained above a
th review of mathematics applied to Dc motors will be an
4 quadrant mode: additional advantage in modeling accuracy of Dc
 Switch Q4 is modulating and other switches motors and will be helpful to understand the insight
are kept off. working of DC machines.
 Inductor L stores energy during the time Q4 is
on. From fig.3:
Q4 –ON Q4-OFF
Current Q4-D2-L-E D2-D3 The instantaneous field current
direction

 Va is –ve and Ia is +ve. (18)

 Step Up Chopper.
The instantaneous armature current

6. Principle of Power (or acceleration) Control

(18)
The choppers discussed earlier are used to control
armature voltage of a Dc motor. The dc-dc converter The motor back emf, which is also known as speed
switch could be any semiconductor switching device voltage:
such as transistors or forced commutated thyristor. In (19)
industrial environment essential loads will be R-L-E.
The theoretical concepts were always developed from
The torque developed by the motor:
ideal conditions, assuming a highly inductive load.

The average armature voltage [3]: (20)

(13) The torque developed must be equal to the load torque:

(21)
Where k is the duty cycle of the dc-dc- converter,
The power supplied to the motor is
Where,
(14) = motor angular speed, or rotor angular frequency
,rad/s;
Where “ ” is the average armature current of the B=viscous friction, N-m/rad/s;
motor and it is ripple free. Assuming a lossless dc-dc = voltage constant, V/A-rad/s;
converter, the input power is = torque constant equal to the voltage constant;
= armature circuit inductance, Henry;
(15) = field circuit inductance, Henry;
The average value of the input current: = armature circuit resistance, ohm;
= field circuit resistance; ohm;
(16) = load torque, N-m.

The equivalent input resistance of the dc-dc converter 8. Results

drive seen by the source:
A comparative study has been done in this section by
(17) adjusting certain features in the circuit, such as
introducing a capacitor into the supply section for the

294
 ANANT KUMAR VERMA

choppers. The observations were made through the

PSIM simulation software dedicated for Power
Electronics and Motor control.

Fig.8.3. speed wave form.

2. 4Q-Chopper Circuit with Capacitor(Fig.9) :

Fig. 8. Four quadrant (4Q) operation for Power control using

separately excited Dc motor in PSIM without a input capacitor.

1. 4Q-Chopper Circuit without capacitor :

Simulation parameters [1] (rated values):

 Motor Terminal Voltage 220V Fig.9. Four quadrant (4Q) operation for power control using
 Motor Output 0.5 Hp Separately excited DC motor in PSIM with a input capacitor .
 Motor Field Voltage 220V
 Motor Field Current 0.2 Amps Simulation parameters remain the same. While results
 Motor Rated Speed 1200 rpm are being observed using PSIM.
 Motor Armature resistance 2 Ohm
 Motor Field Resistance 540 Ohm 9. Conclusion
Preference of the armature control method is high due to
good speed regulation. Speed regulation can be done
only up to rated speed or below rated speed. A
comparative study of the Separately Excited DC motor
concludes that without using input capacitor speed
fluctuates up to the rated speed and current is
discontinuous in nature whereas using input capacitors
we can conclude that the speed regulation is very
smooth and current becomes almost continuous.
Fig.8.1. output voltage wave form. Thereby from the output waveforms, we can visualize
the Forward Motoring action for duration of 0.03s and
Reverse Motoring action for same duration of
0.03s.Hence Power (P=Va*Ia) control is achieved.

10. Future Scope

Field flux control is employed to achieve speed control
above base speed. In a Separately excited DC motor, we
need to vary field voltage as desired to control flux. In
view of this we need to have closed loop control
methods. It is achieved by employing an inner current
Fig.8.2. current wave form. control loop within an outer speed loop. For operation
of a dc drive, inner current loop is employed to control
torque and motor currents below a safe limit. In future

295
 DC-Drive Control Using PSIM

are looking forward to employ various closed loop

control methods applied for DC drives and find their
performances using PSIM. Further side by side
employing Buck and Boost converters by various open
loop and closed loop controlling techniques for DC
drives and integrate them using PID ,Fuzzy and Neuro-
Controllers.

References
1. Naveen R. Sharma, Ravishankar Kumar and N.G.Mishra,
Simulation of Four quadrant Chopper using PSIM, in
World Journal of Science and technology . 2(4) (2012)
70–74.
2. R. Krishnan, Electric Motor Drives- Modeling, Analysis
and Control, 10th edn. (Prentice Hall, Upper Saddle
River, NJ, 2001).
3. Muhammad H. Rashid, Power Electronics- Ciruits,
Devices, and Applications, 9th edn. (Springer-Verlag,
New York, 2011).
4. Bimal K. Bose, Modern Power Electronics and AC
drives, 1st edn.(Prentice Hall (P) Ltd.,New Delhi, 2011).
5. Magnus Hedlund, “Design and Construction of
Bidirectional DC-DC Converter for an EV Application”,
(http://www.teknat.uu.se/student, Feb, 2010).
6. N. Mohan, T.M. Undeland, W.P. Robbins, Power
Electronics: Converters, Applications and Design, 3rd
edn. (reprint by Wiley India(P) Ltd, New Delhi, 2007).
7. G.K. Dubey, Power semiconductor controlled drives, 1st
edn. (Prentice Hall, Upper Saddle river, NJ, 1989).
8. G.K. Dubey, Fundamentals of Electrical Drives, 2nd edn.
(Narosa Publishing House (P) Ltd, New Delhi,2001).
9. S.S. Raghuwanshi, K. Gupta, S.Manjrekar, D.
Choudhary, Y.Mokhariwale, Analysis and Design of a Fig.9.1. voltage, current, and speed wave form.
Closed-Loop Converter Controlled DC drive, in
International Journal of Engineering Trends and
Technology. Volume-3, Issue-3 , (2012).
10. Texas instruments, Understanding Buck Power Stages in
Switch mode Power Supplies-Application report, in
Mixed signal Products(March,1999).
11. Alan Martin, Boost Converter Design Tips, in Field
Applications Engineering, National semiconductors,
(March, 2005).
12. K. Ogata, Modern Control Engineering, 4th edn. (PHI
learning (P) Ltd, New Delhi, 2009).
13. K.A. Naik, P. Srikanth, Stability Enhancement of Dc
Motor using IMC Tuned PID Controller, in International
Journal of Advanced Engineering Science and
Technology. Vol. No.4, Issue No.1.,(2011) 092-096.

296