Part I: Principles of DC Drive Control

Learning Objectives: * to learn the basic characteristics of DC motors and their control parameters * to understand the various operating modes DC motors and their representation: The basic principle of a DC motor is the production of a torque as a result of the flux interaction between a field produced on the STATOR (either produced by a permanent magnet, or a field winding) and the current circulating in the armature windings on the ROTOR. In order to produce a torque of constant sign, the armature winding loops are connected to a set of brushes which commutate the current appropriately in each loop according to their geometric position. The commutator is a MECHANICAL RECTIFIER. Note that reversal of either the field current or the Armatur e Current armature current results in a torque in the opposite Field (free direction. However, reversal of both fields does Control wheeling Rfc Resistor diode) not change the torque direction, hence it can be +V used as a universal motor with DC or AC feed (La, Ra) (Rf, Lf) Eo if both windings are in series.
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Basic Equations of a DC Machine:

Steady state conditions (assume all time varying quantities have a constant average value) Vf = Rf I f E = K vI f ( field winding ) (Counter emf or Back EMF ) (armature voltage ) (electrical torque)

Va = Ra I a + E = Ra I a + K vI f Te = K t I f I a = A + B + Tload Pd = Te

(developed power )

(The back emf assumes that the magnetizing characteristic, E(If) is linear) Speed control: we can extract: = Va Ra I a Kv I f and one can control the speed with

1) Va Voltage Control 2) If Field Control 3) Ia (with If fixed) Demand Torque In practice, for speeds less than the base speed (rated), the armature current and field currents are maintained at fixed values (hence constant torque operation), and the armature voltage controls the speed. For speeds higher than the base speed, the armature voltage is maintained at rated value, and the field current is varied to control the speed (note the hyperbolic characteristic). However,
Part I:DC Motor principles pg 1

this way the power developed Pd is maintained constant. This mode is referred to as field weakening operation.

Td , Pd

Power

Torque speed constant torque Ia constant power

If

Fig 2: Control Modes

Case of Series Motor (or Universal Motor) In this case the field winding is series with the armature winding, hence If and Ia are equal. This leads to: = Va ( Ra + R f ) I a Kv I a

One can either control the armature voltage (Voltage Control), or the armature current (Current Control) which is a measure of the torque control.

Td Ia

Power

Torque speed constant torque constant power

Fig 3: DC Series Motor Control

Part I:DC Motor principles pg 2

Operating Modes of DC Motors: Motoring: The back emf E < Va both Ia and If are positive. The motor develops a torque to meet the load torque.
If Ia
(Rf, Lf) (L a, R a) E Rfc +Vf
V2 V1 V3 V2

T em
rated torque

T load

+Va

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FI G 5 torque speed

Fig 4: Motoring Forward

Ia
+
V2 (Rf, Lf)

Rfc +Vf

Dynamic Breaking: The voltage source is removed, and the armature is shorted. The kinetic energy stored in the rotor of the motor is dissipated in the armature resistance since the machine now works as a generator. Note here that theoretically, since the armature voltage is proportional to the speed, the motor would never stop... but in fact because there is also friction and viscous friction (windage), the motor will stop as soon as the speed is at a certain low value.

+Va

(L a , R a ) E

Fig 6: Dynamic Breaking

Ia

Rfc

Regenerative Breaking: The back emf E > Va , the machine acts as a generator, and the armature current flows towards the source, hence energy stored in the machine rotor is fed back to the source. Note however that this will cause the machine to slow down usually until E=Va and then revert to mode 1.

+
V2 +Va (L a , R a ) E

(Rf, Lf)

+Vf

Fig 7: Regenerative Breaking

Plugging: Plugging is when the field current is reversed, hence the back emf changes sign, and the equation of the machine becomes: Va = E Ra I a hence I a = Va + E Ra which means a very high torque generated in

the opposite direction of rotation. A very powerful breaking takes place. However it must be noted that the armature has to be opened as soon as the motor reaches zero speed, otherwise it will start rotating in the opposite direction.

Part I:DC Motor principles pg 3

Two Transistor control of regenerative operation When the main switch opens, the armature current I(a1) has to be dissipated through the freewheeling diode. Then if one closes switch T1, the machine behaves as a generator with the energy stored in its inertia. Therefore the armature current I(a2) will start flowing and follws I(1). After a certain time one opens the switch T1, and the current I(a2) has to be redirected via diode D2 back to the source with I(2). This is because of the inductance of the machine acts as an emf restoring the flux stored in the magnetic field. Then one closes T1 again and so on.

i2 i a2
V2 +Va (L a , R a ) E

T1 i1
N

i a1

The chopping rate of switch T1 can be set in order to control the average current (Ia2), usually 1.5 times rated value. This is Fig 7: Regenerative Control possible only if the speed is fast enough to provide terminal voltage. When the emf E Ia reaches E=Ra.I(rated), the switch T1 remains closed for maximum breaking possible with the given emf. average

Four Quadrant Operation: Figure 8 summarizes the modes of operation in a four quadrant representation.
Speed

Forward BREAKING

Forwa rd MO TO RING

Torque

Reverse MO TORING

Rever se BREAKING

Fig 8: 4 quadrant operation