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DC drives using Phase control byThree-phase

AC-DC converter
ระบบไฟสามเฟส
Phase
voltage

Line
voltage
Vab = 3Van 30

Half Controlled three phase Converter

ia

Three Phase
Ac Supply T1 T3 T5
if

vt

D1 D3 D5

Half controlled three phase converter

ia

• Up to 125 Hp
• Reducing of cost of converter vt

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3-Phase fully controlled

converter
P converter

N converter

V0 = 1.35VL cos
2 3  1 1 1 1 
isa = I a sin(t −  ) − sin 5(t −  ) − sin 7(t −  ) + sin11(t −  ) + sin13(t −  ) − ...
  5 7 11 13 
3

Vt = 1.35VL cos
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Armature voltage Armature at

various firing angles with
continuous armature current

Finring angle =30 degrees

Phase Voltage Wave Form
400

αth1 =30° Van αth3 =30° Vbn αth5 =30° Vcn

300

200

th5 th1 th3 th5

100
Vphase (V)

-100

th6 th2 th4

-200

-300
αth2 =30° αth4 =30° αth6 =30°
-400
0 30 60 90 120 150 180 210 240 270 300 330 360
Degree

Line Voltage Wave Form

600
Vcb Vab Vac Vbc Vba Vca

400

200
Vline (V)

-200

-400

-600
0 30 60 90 120 150 180 210 240 270 300 330 360
Degree

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Motor input
I cos1 I1 cos VI
PF = 1 = = t a power
I I 3Vs I s
AC supply
apparent
power
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T = KI a
Ea = Km
Vt = I a Ra + Ea
Vt RaT
m = −
K ( K ) 2

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Torque-speed Characteristics with

variation of firing angle

Example
• A 3-phase AC/DC converter is used to drive a
separately excited DC motor with ratings of 100 HP,
600 V, 1800 rpm. An ac source is 3-phase, 480 V,
60 Hz. The motor parameters are armature
resistance (Ra ) of 0.1 ohm , k =0.3 V/rpm
( Ea = kn ). The rated armature current is 130 A.
1. rectifier or motoring operation. The machine
operates as a motor, draws rated current and runs at
speed of 1500 rpm. The current is assumed to be
ripple free. Determine
(a) Firing angle
(b) Power factor

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2. Inverter or regenerative braking operation at

1000 rpm and rated current. Calculate
(a) Firing angle
(b) power factor

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Solution

1(a)
Ea = kn = 0.3(1500) = 450V
Vt = Ea + I a Ra = 450 + 130(0.1)
= 463
Vt = 1.35VL cos
463 = 1.35(480) cos
 = 44.4

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1(b)
2
Is = I a = 0.816I a
3
= 0.816(130) = 106.1A
480
S = 3Vs I s = 3( )(106.1) = 88,169.1VA
3
Po = Vt I a = 463(130) = 60190W
Po 60190
PF = = = 0.68
S 88169.1

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2(a) Ea = (0.3)(−1000) = −300

Vt = Ea + I a Ra = −300 + (130)(0.1)
= −287
Vt = 1.35VL cos 
−287 = 1.35(480) cos 
 = 116.3
2(b)
Power from the dc M/c Pdc = Ea I a = 300(130) = 39000W
Armature copper loss Pa = I a2 Ra = 1302 (0.1) = 1690W
Power to source Ps = Pdc − Pa = 39000 − 1690 = 37310W
S = 88169.1
Supply apparent power

37,310
Power factor PF = = 0.423
88169.1
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Standard Drive Circuit for 4 Quadrant operation

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ia i
f
•a
•b Vt
•c

CON I CON II

Dual thyristor Converter for four quadrant DC drive

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ia (Te)
QII QI
Reverse braking Forward driving
CON I ( > 900) CON I ( < 900)
Inverter mode rectifying mode
Vt(m)
QIII QIV
Reverse driving Forward braking
CON II ( < 900) CON II ( > 900)
rectifying mode Inverter mode

Four Quadrant operation of DC drives

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Measured phase voltage and current of AC sourcc

supplying DC motor.
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A.
S p e c t ru m o f c u rre n t
3

Fundamental
2.5

5th
2
Current(rms)(A)

1.5

7th
1

0.5

0
0 5 10 15 20 25 30 35 40 45 50
H a rm o n ic O rd e r

Harmonic spectrum of input current

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Top trace: Armature voltage ( Vt ) Bottom trace: current.

CON II operated in inverter mode and machine operates
as a Generator
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Phase voltage and current of input of DC Drives

as DC Machine operates as a motor. CON I operates in rectifying
mode
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Top trace: Armature voltage( Vt ) Bottom trace: Armature current (

ia) discontinuous DC Machine operates as a motor. CON I operates
in Rectifying mode
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Top trace: Armature voltage ( V t ). Bottom trace: Armature current ( i a )

in continuous mode
Converter II operates in inverter mode. Machine operates as a generator
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Four quadrant operation with

armature voltage reversal technique

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Electric Motor Drives : DC-DC chopper

Essential dc/dc chopper circuit diagram :

with waveforms for dc motor load

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Essential dc/dc chopper circuit diagram :

output waveforms for dc motor load

During ton During off 0 = v + i R + e

V = vL + ia Ra + ea L a a a

dia dia
L + ia Ra = V − ea L + ia Ra + ea = 0
dt dt

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One quadrant Thyristor DC/DC chopper

i1 i2
TH1
C1 i3
TH2
Vd V2 D DC motor

L1 D1

Thyristor chopper dc drive

TH1 : Main thyristor TH2,C1,L1 ,D1 ( Forced Commutation components )

TH2 : Auxiliary thyristor for turning off TH1

Armature voltage depends on duty

28 ratio

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vt

vc
Vcvvv

iiia

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Discontinuous current

Step-down ,single quadrant

chopper
Continuous current

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Assignment 5: Simulate one quadrant

DC/DC chopper using IGBT with 1 kHz
switching frequency in continuous and
discontinuous Modes of operation. Plot
motor voltage and current and
corresponding harmonics using FFT

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Class B , step-up
single-quadrant chopper
Regenerative Mode :
DC M/C acts as a
generator. Average
voltage is positive
and average current
is negative thus
negative power ( p=vi)

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Class C two - quadrant

chopper Average
voltage is positive
and average
current is positive
thus positive power
. If ON time for Q1
is less than that for
Q2, the average
current is negative

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Class D , two-quadrant chopper

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Waveform of the variables

Motoring Mode

voltage is positive and

average current is positive
thus positive power
(absorb)

Regenerative Mode
voltage is negative and
average current is positive
thus negative power
(delivery)

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Example
• A 2 quadrant chopper is used to drive a separatey
excited DC motor. The parameters are k = 0.1
V/rpm, Ra =0.2Ω. The chopper frequency is 250 Hz
and the DC input is 120 V . Assume the current is
ripple free.
(a) Quadrant1: S1 and D2 operates at n=400 rpm and io =
100 A
(i) Draw waveforms of motor l and current and
source current.
(ii) Determine turn-on time (ton)
(iii) Determined developed power ,armature copper
loss and source power.

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(b) Quadrant 2: S2 and D1 operates in regenerative

mode at speed of 350 rpm and io = -100 A
(i) Draw waveforms of motor l and current and
source current.

(ii) Determine turn-on time (ton)

(iii) Determined developed power ,armature
copper loss and source power.
developed power.

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S1 D1

Vs

S2 D2

Two quadrant DC-DC chopper

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(a) (ii) Vt = Ea + I a Ra
= (0.1)(400) + (100)(0.2)
= 60V
Vt = DVs
V 60
D= t = = 0.5
Vs 120
t
D = on
T
1
ton = DT = 0.5( ) = 2ms
250
iii Pe = Ea I a = (0.1)(400)(100) = 4000W
PR = I a2 Ra = (100) 2 (0.2) = 2000W
Ps = Vs I s = 120(0.5)(100) = 6000W

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Vt = Ea + I a Ra
(b) (i)
= (0.1)(350) + ( −100)(0.2)
= 15V
(T − ton ) t
(ii) Vt = Vs off
T
t
15 = (1 − on )120
T
1
T =( ) = 4m s
250
ton = 3.5m s

(iii) Pe = Ea I a = (0.1)(350)(−100) = −3500W

PR = (100) 2 (0.2) = 2000W
(4 − 3.5)ms
Ps = (120)(−100)( ) = −1500W
4ms

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4 Quadrant switched mode converter (4 Quadrant DC Chopper)

Ia

4 - quadrant operation

Vt
0

T A+ DA + TB + DB + ia
Line
input
Vd Vt DC - motor
T A− DA− TB − DB −

Diode Filter Energy Full - bridge

rectifier capacitor absorption DC - DC
circuit converter
Switch - mode DC/DC converter

High switching frequency reduces current ripple thus reducing torque ripple and
motor copper loss whereas switching frequency loss increases Power factor is
independent of speed unlike phase control. The system is capable of four quadrant
operation
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Bipolar PWM
tonVd − toff Vd
Vt =
Ts
t onvcon > vˆ tri
For T + และ
A
t offvcon < vˆ tri TB -

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Unipolar PWM voltage has twice

frequency of switching frequency
device reducing voltage and ripples thus
reducing torque ripple and harmonic
loss. The dynamic response is
improved.

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รู ปบน แรงดัน Armature (Vt) PWM Switching เป็ นแบบ Unipolar

รู ปล่ าง กระแส Armature (ia)ต่ อเนื่อง

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Top : Armature voltage( Vt) in Reverse driving

Bottom: Armature current ( ia )

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Example of controller design of closed loop speed

Rated power = 3.73 kW
Rated field winding voltage = 300 V
Rated armature winding voltage = 240 V
Rated speed =1750 rpm
Ra = 2.581 
La = 0.028 H L f = 3.156 H
Laf = 0.9483 H R f = 281.3 
Bm = 0.002953 N  m  s

J = 0.02215 kg  m 2 Tf = 0.5161 N  m
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Simulation of closed loop speed

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Block Diagram of Speed loop

m* ( s) I a* ( s ) I a (s) Tem ( s ) m ( s )

K 1
K p + i I kT
+ s sJ eq
−

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GOL ( s ) = GC ( s )G p ( s)
GOL ( s)
GCL =
1 + GOL ( s)
20log GOL ( s) = 0
Phase Margin(PM)

= OL fc
− ( −180
) = OL fc
+ 180

For satisfactory response without oscillation

phase margin should be greater than 45.
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Typically it is approximately 60 degrees

Transfer function of IkT

plant sJ eq
I =1A kT = 1
,
1
J eq = 0.02215 kg  m 2 G(s) =
0.02215s
 = 0.707 m = tan −1 (
2
)
−2 + 1 + 4
2 4

m = 58.82
,


BW = 28.29 rad / s

K p
m − 180 = tan (Ti ) − 180 −1 K i =
Ti
 Ti J eq
2
K p = 0.54
K p =
และ kT (T )i
2
+1 Ki = 9.24
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root locus and bode plot using Matlab

%Code of determining Root Locus and Bode Plot

Gs = tf([0 1],[0.02215 0]) %transfer plant
Gc=tf([0.54 9.24],[1 0]) %transfer PI
rlocus(Gs*Gc)
margin(Gs*Gc)

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Root locus

Root locus
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Bode Plot

GOL ( s) = 1
20log GOL ( s) = 0

GOL ( s) = 1 Phase margin

= 58.82
degrees

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Responses at t=2s, 2Nm load torque step and at t=4s

step to 0 Nm

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Applications of DC drives in Load Emulator

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Extruder in Plastic and cement applications using thyristor

DC drive

Extruder applications

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Direct torque control

Torque Control

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Speed control with limiter

Speed control (outer loop) with

inner loop of current control

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