CHAPTER 3 D. C. Drives po ---~. | 31 Introduction | | 32 Characteristics of Separately Excited D.C. Motor i 3.3. Characteristics of D.C, Shunt Motors sess ! 3.3.1 Torque ~ Armature Current (T/1,) Characteristics 3.3.2. Speed ~ Armature Current (N/,) Characteristics | 3.3.2. Speed-Torque (N/T) Characteristic | | 34 Characteristics of D.C. Series Motor .. October-2016 ! 3.4.1. Torque-Armature Current (T/I,) Characteristic i 3.4.2. Speed-Armature Current (N/I,) Characteristic p a | | 3.4.3. Speed-Torque (N/T) Characteristic i 3.5. Characteristics of Compound Motors | 26 — Characteristics of PMDC Motor .. October-2016 I 3.7 Speed Control of D.C. Motors m | 3.7.1 Speed Control of Shunt Motors... .. May-2016 3.1.2 Speed Control. of D.C. Series Motors 3.8 Ward Leonard Method of Speed Control 3.9 Single Phase Half Wave Converter Drive... 2016 I October-201 f 3.10 Single Phase Full Converter Drive 3.11 Single Phase Semiconverter Drive . October-2016 | 312 Single phase Dual Converter 3.13 3- Half wave controlled Drives | 3.14 Three Phase Full Converter Drives May-2016 Scanned with CamScanner3-Phase Dual Converter Drives three Phase Semi converter Drive for Separately Excited D.C. Motors Chopper Drive Motoring Mode sn May-2016, October-2016 Principle of Regenerative Braking and Control Principle of Rheostatie Brake Control Type-C Chopper Drive / Two Quadrant Type-A Chopper ‘Type-D Chopper Drive / Two Quadrant Type-B Chopper Four Quadrant Chopper Drive / Class-E Chopper Drive uu.» May-2016, October-2016 Comparison Between Converted FED DC Drives and Chopper FED DC Drives Closed Loop Speed Control 3.25.1 Improved Closed Loop Speed Control with Inner Loop Current Control 3.25.2 Closed Loop Field Control 3.25.3. Closed Loop Armature Control 3.25.4 Advantages of Closed Loop Speed Control Dynamic Model of DC Machine. May-2016, October-2016 Speed and Position Control Scheme Using Dynamic Model Exercise GTU Question with Answers G.T.U. QUESTION PAPER STATISTICAL ANALYSIS May-2016 October- 2016 Marks a2 as Repeated Questions Marks 7 ra CED. 1201716 Scanned with CamScanner3 Control _of Electric Drive, INTRODUCTION : D.C. motors are used ay adjustable-speed drives and for position control applications. ‘The speed of the motor below the base speed can be controlled by armature voltage contro, se speed can be controlled by field flux contro, method while speed of the motor above As speed control methods for d.c. motors are simpler and less expensive than that of a.c, motors. dic, motors are preferred where wide-speed control range is required. As A.C. supply is easily available phase controlled converters (rectifiers) provides variable a D.C. choppers also provide dic. output voltage from a fixed d.c. input voltage. The dc, motors used along with power electronic converters are called D.C. drives. output voltage from a fixed a.c. input voltage. CHARACTERISTICS OF SEPARATELY EXCITED D.C. MOTOR : ‘The equivalent circuit for a separately- excited dc. motor coupled with a load under steady-state conditions is as shown in figure 3.1. The load torque _T, opposes the, electromagnetic torque _T_. For field cireuit, V, = I, - Ry For armature circuit V, = E, +R, ~~ (I) FIG. 3.1 : CIRCUIT DIAGRAM OF SEPARATELY EXITED MOTOR Motor back e.m4. of motor armature emf, E, & $0, E, = ky 90, ® Torque developed To k,l, T =k, Oh, « Q) T, = Do, + T, ww (4) where V, = motor terminal voltage 1, = armature current 6 = flux per pole k,, = k, 9, torque constant / R, = armature resistance ©, = angular speed of motor es R, = field resistance D = friction constant Scanned with CamScannerF ) \_ G, prives ws = a go electromagnetic power 2 (3) From equation (1) and (2) ¢ But a (6) terminal voltage qt is seen from eq. (6) that speed can be controlled by varying (i) aa own ne the field- Y, known as the armature-voltage control and (ii) the field flux 4, kn flux control. ° Nowe Nex N | Le baa Field voliage ceed control FIG. 3.2 : CHARACTERISTICS OF SEPARATELY EXCITED MOTOR + Figure 3.2 shows the torque speed and power speed characteristics of separately excit D.C. motor. It has two regions of operation, the region below base speed is called constant torque region and the region above base speed is alled constant power region, Constant torque region : In practical application for the speed below the base speed or rated speed. the current and field current are maintained constant to develop the required torque. The 6 voltage V, is varied to vary the speed of the motor. 1, = Constant, I, = Constant, V, = varied to vary speed of motor. Scanned with CamScannerControl of Electric Drives speed of the motor increases-with increase in armature voltage. When the motor speed is equal to the base speed or rated speed, the rated armature voltage is reached and V, 1s not increase further, If we increase it further motor may get damaged. Constant power region : In order to get motor speed above the base speed or rated speed, the armature voltage is made constant at its rated value and the field current I, is changed to change the speed of the motor. The speed will increase with reduction in the field current, The torque produced by the motor is proportional to J,, therefore with reduction in I, the torque will also reduce. 1, = Constant, I, = varied to vary speed of motor, V, = Constant. Tal once ¢ Thus the speed control of the motor is achieved by changing field current but the torque reduces. However the power developed by the motor which is the product of torque and speed, almost remains constant. 3.3, CHARACTERISTICS OF D.C. SHUNT MOTORS : FIG, 3.3 : CONNECTION OF A D.C. SHUNT MOTOR + Ford. to armafure current 1, From figure ry I Figure 3.3 shows the equivalent circuit of a d.c. shunt motor. Tao], —— I Ty VIRy =E,+1,R, ly = < u shunt motors the torque is proportional to the flux per pole > and also proportional Scanned with CamScannerr ———— pC. Deives 431 Torque - Armature Current ¢1j From equation (8), the Tild current 1 as supply voltage V is kept cons |.) Characteristics + a Femains constant V = constant, so I, = constant and oastant therefore flux ie 7 Tal, s . Ty? Ors + So torque is Proportional to armature cifrent and i¢ practically a straight line passing through the origin FIG. 34 : TH, CHARACTERISTICS a shown in figure 34“ * ONB 332 Speed - Armature Current (N/I,) Characteristics : «The back em. Armature current — - for dc. motor is given by E, = ala) 60 [A : By f2M op » 60 Ca) ‘Armature current” V= 1— Na . o FIG, 35 : N/l, CHARACTERISTICS For dc. shunt motor, the flux per pole ($) is practically constant as supply voltage is kept constant. . Na Y-LR, * This equation shows that, if armature current I, increases, E, decreases so speed N decreases slightly as shown in figure 3.5. The speed of dc. shunt motor fall slightly with increases in armature current. 333 Speed-Torque (N/T) Characteristi E, The speed of dic, motor, N a ri — The flux per pole (@) is constant for d.c. shunt motor. Z Therefore, N a E, & (V - 1,R,) 1 pe CieplO liana ; Scanned with CamScannerPo 46 * — Also, for d.c. shunt motors, T, 0 1, (@ is constant) From the above equations, if armature current 1, increases, the torque 7, also increases, hence E, decreases, So speed N will decrease as shown in figure. + The speed of dic. shunt motor fall slightly with increases in armature current or torque, as shown in Fig. 3.6. * D.C. shunt motors are approximately constant speed motors. These motors are suitable for constant speed and for medium starting torque applications such as pumps, blowers, fans, conveyors, machine tools, lathes etc. 3.4 CHARACTERISTICS OF D.C. SERIES MOTOR * Figure 3.7 shows the connections of a d.c. series motor. For dc. series motors, the flux is directly proportional to the armature current, as a result the torque is proportional to the. square of armature current. T, 061, ool, (because series winding. carries full-load armature current) T, a 0 % wore 3.4.1 Torque-Armature Current (T/I,) Characteristic : + If J, increases, the torque increases as the_square of the current. T/1, characteristic is a parabola on the initial portion. But at increased load, the flux tends to became constant because of saturation and thus the characteristics is a straight ine as shown in figure 3.8, From the Torque-Armature characteristic, we see that the dac. series motor develops very high starting torque. So these motors are used for Electric traction, cranes, hoists and trolley cars ete. a | Control of Electric p,;, a ob pS ® ee Torque tT FIG. 3.6 : NT CHARACTERISTICS Lue oy y bed Reso I Ih > FIG. 3.7 : CONNECTION OF A D.C. SERIES MOTOR Armature current _—_ FIG. 38 : 1/1, CHARACTERISTICS Scanned with CamScannerBex’ p. c- Drives a 342 Speed-Armature Current (N/L) Characteristic ‘ For dc. series motor, the flux jg directly proportional to armature current E, Na Speed ® 9 @ I, for series motor + For a constant voltage, " the change in E, for various Joad currents is small and hence neglecting back emf, ‘Armature current ; ae + Therefore, N a FIG, 39 : Nil, CHARACTERISTICS coe +The speed is inversely proportional to rsel armature current I,. Figure 3.9 shows the speed- armature characteristic of d.c. series me jotor. + As armature current I, increases the the speed increases, + As the load is increased, the flux also increases, so the speed falls. At no-load, the armature current I, is very low which results in a dangerously high speed of the motor. Therefore de. series motors should never be started without load, 2 (N/T) Characteristic : 7h speed of dic. motor, Ey speed decreases and as armature current I, decreases Na — —t * For dc. series motor, Speed eal, E, * Therefore, N a —% * Also, T, a 61, Torque To. | T, an FIG. 3.10 : NT CHARACTERISTICS * Therefore, O/T, But at higher loads, the flux becomes saturated and T oI. E, Therefore, No Scanned with CamScanner7 Control of Electric Drives The speed is inve sely proportional te square root of the torque, Figure 3.10 shows thy ic of dc. series motor. Speed-Torque charac 38 CHARACTERISTICS OF COMPOUND MOTORS : A compound wound d.e, motor or rather ad... compound motor falls under the category of self excited motors, and is made up of both series field coils $, S, and shunt field coil, E 1 F, connected to the armature winding. Both the field coils provide for the required amount of magnetic flux, that links with the armature coil and brings about the torque necessary to facilitate rotation at desired speed, + swe can ut derstand, a compound wound d.c. motor is basically formed by the combination of a shunt wound d.c. motor and series wound d.c. motor to achieve the better off properties of both these types. + Like a shunt wound d.c. motor has extremely efficient speed regulation characteristics, whereas the d.c. series motor has high starting torque. + The compound motors are of two types : field aids the shunt field. s field opposes the shunt field ——_—_—- Series ‘Amature current ™ L— Torque FIG. 3.11 : T/l, CHARACTERISTICS FIG. 3.12 : NT CHARACTERISTICS 3.6 CHARACTERISTICS OF PMDC MOTOR : Ce Ay + In a PMDC motor, permanent magnets (located in stator) provide magnetic field, instead of stator winding. The stator is usually made from steel in cylindrical- form. Permanent magnets are usually made from rare earth materials or freodymium) + ‘The rotor is slotted armature which carries armature winding. Rotor is made from layers of laminated silicon steel to reduce eddy current losses. ; Scanned with CamScannerFr * | | prives 49 | as Ends of armature winding are connected to commutator segments on which the brushes rest. Commmutaor is made from copper and brushes are usually made from carbon or graphite. ed form to achieve pc. suppl S applied across these brushes. The commutator is in segment nidirectional torque. applied voltage. ¢ reversal of dire © easily achi ‘ ., The reversal of direc easily achieved by reversing polarity of the tics of PMDC motors are similar to the characteristics of d.c. shunt motor 1% re more ure curfent. However, speed- torque characteristics a “Torque Speed (N) Speed (N) ‘Anmanure current (14) Armature current (I4) Torque (Ts) FIG. 3.13 : PMDC MOTOR CHARACTERISTICS 37 SPEED CONTROL OF D.C. MOTORS. ‘The speed of d.c. motor is directly proportional to back emf E, and inversely proportional to the flux ¢. Na = Na Ve 2 Nex Vitae Therefore, N a , where, R, = resistance of armature circuit V = applied voltage @ = flux per pole * Therefore, the speed of d.c. motor can be controlled by varying the flux per pole ¢, called field ot flux control method, by varying resistance i the armature circuit, called armature control of Rheostatic control and by varying applied voltage, called voltage control method, method. — CED. 1201717 i] a «1 Scanned with CamScanner50 Control of Electric Drive, 3.7.1 Speed Control of Shunt Motors + a. Flux or field control method + The speed of d.c. motor is inversely proportional to flux, Also in D.C. shunt motor the flux ¢ depends on shunt field current I,,, If Iy, is more, more flux is linked. ieNatat eh — ‘The field current and hence the flux of adc. FIG. 3.14: FIELD CONTROL METHOD shunt motor can be changed by varying the variable resistance or field rheostat. By controlling the. field current (I,,), the speed of dc, shunt motor is controlled. If resistance increases, shunt field current decreases, as field current decreases the flux linkage also_decreases and as the speed is inversely proportional to flux linkage, speed increases, RT, Lt, ob = NT; If resistance decreases, shunt field current increases, as field current increases the flux linkage also increases and as the speed is inversely proportional to flux linkage, speed deoseases RL, 1 Len 1, oT = NL Advantages of this speed control method is that this method is easy, convenient and more efficient. Since shunt field current (I,,) is very small, the power loss in the rheostat is small, It gives speed above the normal or rated speed. The variable resistance in the field reduces the shunt field current (I,,) and hence the flux is reduced, which will result in an increase in the speed of motor. Armature or Rheostatic Control Method : In this method, a variable resistance is connected in series with the armature as shown in figure 3.15. For D.C. motor E, No — ¢ i Since the flux per pole @ is constant, Nak, aV-1R, Let an extra resistance be added to the armature circuit so its value becomes FIG. 3.15 : ARMATURE CONTROL METHOD (R, + RD. Scanned with CamScannerFRR OTF OR is yc Dives + Therefore, NoV-](R, 4 R) «The applied voltage is normall 'Y constant. As the resista i the armature voltage drop $0 the voltage actos resistance R, increases, the a ig armature is reduced. Thus, the speed is reduced. + Ifrresistance R, increases armature cu emf_inereases because E, = V — | RT, 1, E,? = NT + Ifresistance R, decreases arthature current I, increases, as armature current increases, back emf decreases because E) = V — I, (R, +R), thus the speed of the motor decreases. RA, 1,1, Bb = NL + Here in this type of speed control method large amount of power (I2R,) is wasted in resistance R, as it carries full-load armature current. This method is not used for long period. Tent I, decreases, as armature current decreases, back |, (R, + R,), thus the speed of the motor increases. + _ It gives speeds below the rated or normal speed because the voltage across armature cannot be increased by resistance R,. Due to above limitations, itis used for short period in printing machines, cranes and hoists. 3, Voltage Control Method : + In this method of speed control, the armature of d.c. shunt motor is connected to a variable supply voltage. : + As the flux 6 is constant for shunt motor, the speed will be directly proportional to applied voltage (Na V, Neglecting the armature voltage drop which is generally very small). + Ward Leonard method of speed control is based on this principle. The variable supply voltage can also be provided to the armature by the adjustable electronic rectifier. This gives large speed range with good speed regulation and efficiency. 3.7.2 Speed Control of D.C. Series Motors : R 1. Field of Flux Control Method : Tr * In this method, a variable resistance R is IL connected across the series field of series + motor as show in figure 3.16. * The load current will flow through the variable diverter resistance. So the current flowing E,, & | § through the series field is reduced, as the current reduces the flux 6 also reduces, As speed is diversely proportional to the flux, the speed of 5 the motor is increased. FIG. 3.16 : FIELD CONTROL METHOD If resistance increases, series field current decreases, as field current decreases the flux linkage also decreases and as the speed is “te eet to flux linkage, speed increases. . Meneeige SPeed eff nurse 4A Riis lecause, speed it oleonense Scanned with CamScanneroy 52 Control of Electric Drives + [resistance decreases, series field current increases, as field current increases the flux linkage also increases and as the speed is inversely proportional to flux linkage, speed decreases, RL 11, 97 = NU] «This method is suitable for obtaining the speed above the base or rated speed of the de, series motor. 2. Tapped field control method : <-""Jn thig method; number ‘of tums of the series field: windings can be varied by the help of tap changer, thus changing the fMux and resulting in change. of speed of the motor + Figure 3.17 shows the tapped field control Series field method for the speed control of d.c. series motor. tappings =, This is the method of increasing speed by reduced flux. It is obtained by reducing the number of tums of field windings. in < + If the number of tapings are increased, |i resistance of the winding is increased, armature current I, decreases, as armature current decreases, so the flux is reduced, thus the speed 4 of the motor increases. + (Number of tapping 7, RT. 1,1, ob = NT «Ifthe number of tappings are decreased, resistance of the winding is decreased, armature current I, increases, as armature current increases, so the flux is increases, thus the speed of the motor decreases. Number of tapping J, RL, 1,7, oT = NU + This method of speed control is suitable for obtaining the speed above the base or rated speed and is generally used in traction. FIG, 3.47 : TAPPED FIELD CONTROL 3. Armature resistance or Rheostatic control method : + In this method, a variable resistance R is connected in series with the motor as shown in figure 3.18. By inserting additional resistance in the motor circuit, there will be more voltage drop, reduces the voltage applied to its terminals and hence reduces the speed of the motor. + If resistance increases, series field current decreases, as field current decreases the flux Jinkage also decreases and as the speed is inversely proportional to flux speed increases. [at yt ob = Nt | FIG. 3.18 : ARMATURE CONTROL Scanned with CamScanner. Series field current i 3 Increases, as field current increa 1c flux linkage the speed is inversely current increases tht Proportional to flux linkage, speed decreases. ont is suitable {& . rol is suitable for obtaining speed below rated or normal speed af the motor. waRD LEONARD METHOD OF SPEED CONTROL : L: 9 shows the schema hunt motor. igure 3.1 diagram of the Ward Leonard method of speed control fa de. yris the method of speed control by applying variable voltages to the armature of the motor * shose speed control is required, —— eee Dc. sorely = | | R xe ia —8 supply mover (AC or DC motor) DG Main Generator Motor FIG. 319 : STRUCTURE OF WARD LEONARD METHOD OF SPEED CONTROL + As shown in Fig. 3.19 M, is the main d.c. motor whose speed is to be controlled, G is separately excited d.c. generator which can be driven by a prime mover it can either be a constant speed 3-6 AC motor M, or d.c. motor. The field winding of the main motor M, is permanently connected across d.c. supply. The amature terminals of the main motor M, are connected directly to the armature terminals of dec. generator. In this method, a_variable_yoltage_is applied to the armature of the main motor Mg for controlling the_s ‘ ‘his variable voltage is obtained from a Motor-Generator Set (M-G set). The variable voltage of the generator can be obtained by varying resistance through which we can vary the field current, Thus, the applied voltage to the main motor can be changed from zero to maximum value ‘nd hence any desired speed for the main motor’M, can be obtained. ost effectively used, where a wide and very sensitive nost effective™y_usec, wien 2 wie ane Nery sense | elevators et Scanned with CamScannerOf FEC Dri PHASE HALF WAVE CONVERTER DRIVE ¢ a 2 F a I + excited DC shunt motor is K : 7 shown in Fig. 3.20(a). IAC BaL\ Pry supply J By Brea y ad Here D,,, is the free wheeling +N nw diode. This is a one-quadrant e operation drive. The ia n of this drive is ted 0.5 KW drive, Phe load is highly inductive and for this highly inductive load the output current is considered as continuous current. + With a. single-phase half- wave converter in the armature uit, the average armature ge is given by, 7 Ve (1 + 00s) for Osast _V,, is the peak value AC supply rane Wi “ve ac FIG, 3.20 Scanned with CamScanner55 Ac iw Uncontrolled Poll Converter R DRIVE ; FULL CONVERT @) | LE PHASE yo gING! Scanned with CamScannerON Control of Electr ic by ‘reewheeling a>90° © 321 FI Scanned with CamScanneroc penes 57 converter drive with four thy 3.21(a). » fall nae : ee ‘stor feeding separately excited DC. motor is show? in converter is two. . cphis full pa aC converter, the output voltage is either positive or nee ot the CAI sitive) In fi = wheeling diode Is not requir tut always positiv®) In full converter free wheeling diode is not required. ors, mative ele of source voltage, thyristor T, and T. . . mey 'yristor T, and T, are given gate signal from of to 7 and thyrist 7, and Ty are given gate signals from (x + @) to 2n, when the armature current flows continuously, the motor is said to operate in_continuous confuotion mode and when the armature cireuit does not low continuously, the motor © id (0 operate _in discontinuous conduction node. jn continuous conduction mode, a positive current flows through the motor and the thyristors z, and T, are in conduction first before at Applications of gate pulses tum on the forward biased thyristors T, and T, at a The conduction T, and Ty causes reverse biasing of the thyristors T and T, and then turn them off. A cycle of V, is completed when ty and Ty are turned ON at (m + ct) causing turning off the thyristors T, and Ty. . lots of ripples since the armature current is not perfect, contains lots of harmonics and hence are generated so that motor torque fluctuate since the torque fluctuates at_a frequency of {00 Ha motor inertia is able to filter out the fluctuations, giving nearly a constant speed ind ripple free ETP ee The waveforms of voltage and current for firing angle a < 90° and a > 90° are shown in the Fig. 3.21(b) and Fig. 3.21(c) repectively. 311 SINGLE PHASE SEMICONVERTER DRIVE = supply Dav La TOO - AC 4K 2 +, ; AC Field supply Dz Xp, a | (@) Power Circuit for 1 phase semiconverter driving a separately excited dc, motor SED. 1201778 bse Scanned with CamScannerControl of Electric 1, ty (b) Waveforms FIG, 3.22 + The circuit diagram for the single phase semi converter drive is shown in Fig. 3.22(a). «The semiconductor is a one quadrant converter which gives current and voltage of one polarity. Hence regenerative bri not possible. tuctance respectively. The voltage B, is armature terminal voltage during positive half cycle, T, is le Ty is triggered at or = m + at, It is assumed +R, and L, are armature resistance an induced emf while V, is the armature triggered at ot = & while in negative half cyel that the armature current is continuous. = During positive half cycle, T, is fired at of = a, T, and D, both conduct and motor is connected to the supply. j = ME Scanned with CamScannerprives 1 7 input changes its polarity AL or = V, tends to bee ch forw aa eer 7 recome negative which for gq free Wheeling diode Dy and T, tums’ OFF naturally , current previously flowing gh T, B . mm Baa wig through T, = D, is now transferred to the current le - ig . lerminals are shorted ode during free wheelins on as non Te cl through diode during avr = % + 4 T; is fired. T, ~D, start conducting and Dyyy reverse biases. The supply ig repeated continuously, ‘The various waveform are as shown in Fig. 3.22(b) At interval Or =m + to T+ G, the free wheeling diode is forward biased as the change is load current is opposed by the inductor in load by generating emf of such a polarity so as to maintain. the output current. «During this period @ part of TEE) is sored in. motor indwance whic [scons by mechanical load. Thus motor current, speed and induced emf all reduces. the armature current | For large values of firing angle, high speed and a low value torque, becomes discontinuous. Due to this discontinuous current, the performance of the motor deteriorates. Thus it is advisable to operate motor in continuous~current-mode which can be ‘achieved by adding — external inductance in the armaQtfe—— ~~ 431 SINGLE PHASE DUAL CONVERTER « This drive consists of two single phase full wave converters connected as shown in Fig. 3.23(a). The two single-phase full converters are connected back to back. Reactor (a) Circuit diagram of a single phase dual converter Scanned with CamScanner gross motor is Now positive, For the next internal from wr = m+ 0 to 2m the process60 Control of Electri ic Dri ey (b) Waveforms FIG. 3.23 If converter-2 operates then it supplies voltage t0 the motor armature with opposite polarity of that of converter-1. It is a four quadrant drive and allows fou forward braking, reverse motoring and reverse braking. ions upto 15 KW. The converter used in field circuit may be either” 1+ modes of operation namely forward motoring, It can be used in applicati ‘a semi or full or dual converter. With converter 1 in operation, the armature voltage is given by vy, = 2Wm cosa, for 0 $a, <% ‘a ins positive. Regenerating ower flow will take place from motor to the a.c. source for 0 > 90°. — Field Scanned with CamScannerControl of Electie 1 i FIG. 3.26 Scanned with CamScannerives: Z 65 ae ig SPHASE DUAL CONVERTER DRIVES 4 je, 3.21(a) shows 3-6 dual i ; re 2 al converter drives, Here two, 3. full converters are connected ¢ firing angles of the tw ’ , a she converter operat a are adjusted such that ol, + 0% = 180° and te ich wil Be aa ey will ten produce the same average terminal + lc. load terminal voltage. pve the values chosen for firing angles, rectification mode will be el in one converter while inversion mode will be observed in the other converter, But in the “Non Ideal dual a converters (practical), ripple voltages are produced by each Pinverter. This ripple yoltages are mostly out of phase at the outputs. Fence, the average output voltages of the two Ts tr Ute Yte OO piel T ts Mts Tr converters are equal, but ——— ae their instantaneous values (are not equal. (a) 3-4 Dual Converter | — Circulation current reactor converter!” Coaverter2 x | | |__» rj Xx Yu Ya | ¢ [| fF (b) Dual converter in circulating current mode FIG. 3.27 between the two converters is produced when the outputs ted together the instantaneous voltage at the terminals of * Hence a large circulating current of the fo converters are connec the two converters differ. means to protect the SCRs * It is necessary to control this circulating current by some connected in the converter circuits. This current will not flow rough the load.——— * ‘The methods’ what are commonfy used to control this circulating current are : " : (1) Operation without circulating currents 2) Operation with circulating current. (Non circulating current mode) : 1. Operation without circulating current : * In this mode of operation the flow 0! Gireulating current is not allowed at all by operating s operating will carry the only one counter at a time. In this mode, the, comercr which + renting pu Mu i omer 1s temporarily Kept in its off state-"(m see are not applied to it). SED 2017 79 Scanned with CamScannerAdvantages : Control of Electric, ing Operating with circulating current (Circulating current mode) + culating current is controlled below In this mode of operation, the magnitude of cite valve. This is achieved by connecting a circulating current reactor between the terminals of the two converters as shown in Fig. 3.27(b). In this mode of operation both the converters are tumed lane ring ang ake adjusted by the control voltage V. such a way thatl(o, + c,) = 180% a) The average voltage produced by boil the converters will be same, CIF ihstantaneoyy values will be different. The circulating current will flow duc to this potential difference The circulating current is limited by a circulating current reactor. The circulating curren, scheme has following adv a sap fy uty (1) Both the conductors remain in conduction continuously irrespective of whether the loag current is continuous or not. (2) The load current in the power circuit can flow in either direction, at any time. Thus a reversal of load current can be done easily and smoothly. (3) The dual converter responds fast if the converters are in continuous conduction, Disadvantages : tly and bulky at high Operation : 3.16 THREE « /RLE load is nothing but a D.C. motor load. The disadvantage is that reactor has to be used. The reactors are cost power levels. Jt is assumed that the reactor is lossless and the firing angles of the two converters are controlled so that their sum is 180° ((o% + @,) — 180°). Both the converters remain in the ON state at no load and load conductors because of the circulating currents. Due to this the voltage waveforms are well defined. ‘The instantaneous d.c. output voltage is the average of the instantaneous converter voltages. The o/p voltage has a shape different from that of either of the converter output voltages. But the average value of the output voltage is the same as the average value of individual converter voltage. PHASE SEMI CONVERTER DRIVE FOR SEPARATELY EXCITED DC MOTORS : % Dw LS Ds eo rN ‘ > 2 l An Ah A A B hE? A pb: «COA Ss : (@) Power circuit of a 3 phase semiconverter driving the D.C. motor Scanned with CamScannerMS ) KK BS i KNEN JKD AS de = “s) Ke = 2 : fee cs aH a 2 Scanned with CamScanner68 Control of Electric p,. ing + Fig. 3.28(a) shows a three phase semiconverter drive circuit and waveforms of Volt and current for the continuous motor current are as shown in Fig. 3.28(b) te + The conducting device during the six different intervals are as shown in Fig. 3.28() Th firing angle of SCRs is 90°, however we can vary its value between 0 and 1g voltage which appears Across the my, * The motor terminal voltage is instantaneous lint terminals through the conducting device. he motor current can be continuous or discontinuoy, | otor current and the operating speed. + The semiconverter is operating in the 2 pulse mode as 0 > 60°. Due to the presence g free wheeling diode Dry, the free wheeling does not take place through a pair of scx and diode. * A three phase semiconverter fed drive is a one quadrant drive without field reversal, i, can be used for the applications only upto 11.5 KW. The converter used for the field winding can_be_a_single-phase-or-three..phase_semiconyerter. * At large value of firing angles # depending on the magnitude of mi + The average armature voltage 33 Va a+ cosa SUS ee where ,, is firing angle. + With a three phase semiconverter connected in the field circuit, the average field voltage is given by, y, p= S3Ne (1 + coset) 9d 2n os 3.17 CHOPPER DRIVE : De ‘A chopper converts a fixed d.c. voltage into a variable d.c. voltage. Thus it can supply, a variable voltage to armature. Chopper drives can be operated in the following modes (1) Motoring mode (2) Regenerative braking mode. | (3) Rheostatic braking mode. 3.18 MOTORING MODE (Type-A Chopper) : + Fig, 3:29(a) shows motoring mode of operation with a one quadrant chopper feeding motor from a de. voltage V. The field is excited by a separate source, Fig. 3.29(b) shows the quadrant of operation, The voltage across armature, ie., V, is given by ; = Chopper. sre 0. is the duty cycle ol Scanned with CamScannerr k D. c. paves wheeling diode is necessary so thy aif, The power supplied to the m Cp 69 Ml the armature current may flow when chopper is Ry Load vs L Yo | | ; he a) ° © [Tox] To tor —=} Tom [Tow Scanned with CamScannerControl of Electr: di +The current drawn from the supply=i > C tsa, a = Feat the motor can be varie + By varying the duty cycle oth G AND CONTROL (Iype-B Chopp a 3.19 PRINCIPLE OF REGENERATIVE BRAKIN —— ") GTU; Oetob mm Ir + O» Eu er Field (a) Regenerative braking in chopper drives Scanned with CamScannera 0 Dz CH, Fee (@) Load voltage and current waveform for type B chopper Average load voltage pe Load inpue (© Quadrant operation of operation (0) Power flow in type B chopper FIG. 330 * The separately excited d.c. motor in Fig. 3.30(a) has an equivalent circuit as shown in Fig. 3.30(6). Note that the IGBT is represented by a switch. Scanned with CamScanner2 Control of “Flectrie Diy es This is a class B or step up chopper. * Fig. 3.30(a) shows the type B single quadram chopper. The positions of switch ang the diode are interchanged as compared to type A chopper, for moi *~ le chopper * Due to this position interchanging, the output current i, can only be but», wit, be positive. The direction of power flow now reverses and it is frum ul to Source, Fig. 3.30(c) shows type B chopper with motor load. E, is the back emf of the dc. motor, * To discuss the operation of regenerative chopper it is assumed that the d.c, motor is already + When switch §, is closed, the back emf E, drives current through inductor L and the output voltage becomes zero. * The inductor L will store the energy. The current through the inductor will rise. + When the switch S; is open circuited, the stored energy in the inductance will induce a voltage across it as shown in Fig. 3.30(c). + Thus the total voltage of E, plus inductor voltage is greater than V. This will forward bias diode D, "and the stored energy is returned back to the source. The load voltage is +V but the load current is negative and decreasing. + The d.c. motor in this case acts for a short duration as a generator and the kinetic energy stored in the system is returned to the input d.c. source. ; + Due to the electrical loading the speed of the d.c. machine (now acting as generator), decreases. + Higher the current drawn from it, faster will be the reduction in speed. This is known as regenerative braking of the motor. load voltage and load current waveforms for type B chopper are as shown in 3,30(d). The type B chopper works in the second quadrant as shown in Fig. 3.30(€). chopper is also known as regenerative chopper. The other applications of type B chopper nofor of energy stored in larger inductors or stepping up battery voltage to higher value. 3.20 PRINCIPLE OF RHEOSTATIC BRAKE CONTROL : In the rhcostatic (dynamic) braking, energy stored by the motor is dissipated in a rheostat | resistance. This reduces the efficiency. Hence this feature is undesirable. which is an external i 1 dynamic braking is used in MRT (local trains), then the power dissipated in rheostal ah be used for heating the trains. + Fig. 3.31(a) shows an arrangement for rheostatic braking of d.c. separately excited motor This is @ single quadrant class-B chopper and operates in the second quadrant. >the waveforms of voltage and current assuming the motor current J, Scanned with CamScannerpa wave i Ne waveform of the current flowing through the braking (a) Rheostatic braking of D.C. separately excited motor 4 Ammanie current & jo 1 =) OW on™ te o ' . DF To~ | or ; (© Current through the. : braking resistance Rp . Z ww = ee Wu t ¥ Dr T © FIG. 331 YPE-C CHOPPER DRIVE / TWO QUADRANT TYPE-A CHOPPER : Class-C chopper is used to obtain rege driving to breaking mode. This chopper operates in | For 1* quadrant operation, CH, in Fig. 3,32(a). 5 ; fora ae operation, CH, and D perform the fanction like class-B chopper, as sh in Fig. 3.32(b). “8D. 12017 719 erative breaking, it provides smooth transition from 1 as 2"! quadrant. st quadrant as wel function like class-A chopper, as shown and D, perform the Scanned with CamScanner74 | FIG, 332 | When CH, is ON the load current Ip flows through load i.e., positive current because the load receives power from the source. Current gradually increases because of inductor (from point P to Q) so the output voltage My = V,. V, - CH, - L-R-E,-V,] At point Q chopper CH, gets turn: % the energy stored in inductor will dissipate through diode D, till current becomes zero. L-R-E,-D,-L So diode D, conductors fm point Q to R. / A point R, the gate signal to CH, is available. The back emf (E,)/ battery load for # rent in the opposite (negative) direction through L and CH,, (Point R to S) "cE, - R-L -— CH, - Scanned with CamScannerFIG. 333 * Curent gradually increases in negative direction as energy gets stored in ind volage Vo = OV (~- voltage across CH which is closed) ‘At point S CH, gets tumed off, the O/P voltage Vv =V, luctor and output Vols voter, yrbgi re So current flows from battery to inductor and then through diode. Dy and to the source E,-R-L-D,-V,-5, “ ‘ So current gradually increases as the energy from inductor dissipates. (Point $ to T), The average load voltage Vp is positive, but the load current Ty have positive as weil as i ; 33. Negative direction as shown in waveform of Fig. 3. Scanned with CamScanner6 Control of Electric Drs a * Current is positive if CH, is ON or D, conducts. Current is negative if CH, is ON gp conducts. 4, * Since average load voltage Vo is positive and average load current Ip is reversible, poy, flow is reversible. * — So this chopper contiguration is used both for motoring as well as regenerative breaking modes. 3.22 TYPE-D CHOPPER DRIVE / TWO QUADRANT TYPE-B CHOPPER : + CH, = AD + WS D cH, HIG. 3.34 * When both the chopper are turned ON together, the current flows through path V, = CH, = Load ~ CH, - V, + So both diodes D, and D, are tumed OFF, the output voltage across the load is equals to supply voltage with the direction of the current shown in figure. +. As the load contains inductor current gradually increases and the energy gets stored in the inductor. + Now both the chopper CH, and CH, are tumed OFF, so the energy stored in inductor will gets dissipates. The direction of the current remains same i., left to right through load but the polarity of the output Voltage gets reversed so voltage becomes negative and current flows through path Load - D, - V, - D, - Load. + Waveforms for Toy > Tor is shown in Fig. 3.35. Vo is positive, 1 quadrant operation. Soa>05 Scanned with CamScannerScanned with CamScanner g oO a a SEs g 2 eee E gs ge fe gz 2 ee ve Be we pty é¢g é 28o¢3 1 ER oP Boao B28. Control of Electic py, tives * The direction of load current is always positive because choppers and diodes can og, is aed ae clue current only in the direction of arrow shown in figure. q 323 FOUR QUADRANT CHOPPER DRIVE / CLASS-E CHOPPER DRIVE ; . TORE? CHa FIG, 337 + The four quadrant chopper can be considered as parallel combination of two type-C choppers, + CH,, CH,, D, and D, is the first, type-C chopper. * CH, CH,, D, and Dy is the second, type-C chopper. _Y% First quadrant operation, CH, and CH,. = ON; CH, and CH3 = OFF Vo = V, and ig gradually increases as the energy gets stored in inductor. _ Vp and ig both are positive giving first quadrant operation. _— Second quadrant operation, CH, = ON; CH,, CH, CH, = OFF | E,+L 4 and current iy flows through L-R-CH,-D,-E,-L Vo is positive and is is negative, giving second quadrant operation. Third quadrant operation, CH, and CH, =» ON; — CH, and CH, = OFF Polarity of the output voltage gets reversed V, = — V, and current gradually increases in opposite direction. Vq and iy both are negative, giving third quadrant operation. quadrant operation, CH,=ON; CH, CH, CH, = OFF Scanned with CamScannery of the output volt : . © Bets reversed, 2 v= -| 2 oe . ( . at | ™4 current iy L-5,- CH, -D,-R- flows through negative and iy is positive, piy th quadr ag iy iS positiy > Biving fourth qua ant operat Ci ON CH,, CH, CH, = OFF CH, CH, = ON wore Ct or corr (Stepdownchoppe) h=>-Ve eee © a tVe | i | = Ch => ON CH,=> ON | ep down chopper) oe Cit, CH, CHs =? OFF | bas Noms ve Vo=-Ve (Step up chopper) Ip=>-Ve Ip=o+Ve ay FIG. 3.38 D DC DRIVES AND CHOPPER FED 34 COMPARISON BETWEEN CONVERTER FEI DC DRIVES : ADC motor has excellent speed control characteristics. Whenever a wide range of speed extiel ie seqguired.a DC moto it ber option. + Tocontrol the speed of DC motor it is necessary to feed an adjustable voltage t the motor. This controlled voltage can either be obtained from rectifiers (AC to DC converters) or from a chopper (DC 1 DC converters). disadvantages of these two ATE aS under : ly suited to convert constant "The relative advantages and is ideal . i .. Therefore rectifier_is_ idea’ L : i The available supply ne age rater ean using CHOPPET drives which converts voltage into varia DC voltage. a fe into variable | a constant DC_voltag' is much less than that in the output of a rectifier. 2. The ripple in the output of @ choppe wulse number is necessary. Less ri ns lower losses: ae yea put of goctifier drives higher pl ala iv lation factor and Henes they 4 ———‘Fe int To reduce the i A converter with higher ul becomes_costly. Scanned with CamScanner. Control of Electric | Ding 4, The chance of discontinuous current operation in chopper drive are lesser than in rectifier drive, Thezefore speed regulation and transient response Of chopper gi are better than rectifier drive. a 3.25 CLOSED LOOP SPEED CONTROL : * DC motor is very extensively used machine where the Wi The operation of DC motor in different steps is easy * By the open loop control the DC motor can be operated at any intermediate speed changing the voltage, armature current etc. But in open loop (Prediction based) cont accuracy in speed cannot be obtained i.e. the speed will not be constant for load Vatiationg ‘on the motor. + There will not ve any feedback to the controller to indicate the change in speed due tp load. This disadvantage restricts the use of open loop speed control DC motor in applications where constanil is essential. + Toavoid the disadvantage a closed loop technique is implemented where the output measured speed is fed back to the speed controller. In closed loop controller the speed can be maintained by adjusting terminal voltage according the speed difference caused by the load torque ie. a fine control of speed can be obtained using closed loop speed control. + The Fig. 3.39 shows the basic block diagram of closed loop seed control. ac. supply ide range of speed control is desing compared to AC motors. Speed ‘Speed feedback signal FIG. 3.39 : BLOCK DIAGRAM OF CLOSED LOOP SPEED CONTROL DC DRIVE «The potentiometer adjusts a voltage (between 0 to 10 V) which represents the reference speed. 0 V indicates minimum speed and 10 V indicates maximum speed. + A tacho-generator is used for producing the speed feedback signal. A tacho-generator is z XO Oy Scanned with CamScanner fevers| ae Control of Electric p,. rin % | is constant, SO flux is constant, + As for separately excited motor field supply ~Q Substitute (2) in (1), Vein +h, + Ko, ~Q) dt + The mechanical ofp can be given by ~@ pa Bo, +s eT where, T,, is load torque. T=K,1- —_—— do, T=K,1,= Bo, +3 “Gy +T, + Taking Laplace of equation (3), Vis) = RAs) + SLL) + K.0,(9) V(s) = IR, + SL] 1,6) + K.0,() vs)-K, L@) = wonen @) V(s)—K.@n(5) Len R, (1+ 5t,) (: R, +] “Og (Here, x, = Armature time constant) «= () (3) = + Taking Laplace of equation (6), Ts) = KI(s) = Ba,(s) + sJa,(s) + TU) oe (10) | T(s)- TL(s) ©,(8) = ane a CD) _ Ts)-T.) ©,(8) = B(+st,) we (12) «fa equation (9), i (s) : e am Vs) n(8) RK, (1+5t,) Scanned with CamScanneree ~ D. C. Drives 85 GF From/equation (12), 7 Oe ve (14) B(+st,) and [Ti) = \y_£ from equation (5) oe (15) 1) _.” | mae) fx 2 Fits ee KeWa(S) Ke FIG. 3.44 : STRUCTURE OF DYNAMIC MODELING + Fig. 3.44 shows the dynamic model of the separately excited D.C. motor which can be derived from equation (13), (14) and (15). 3.27 SPEED AND POSITION CONTROL SCHEME USING DYNAMIC MODEL : + The armature-controlled DC motor shown in Fig. 3.45, has a constant field excitation. Control of the motor is achieved by changing the armature voltage V,. oe t ven () ° Applied voltage is given by Om =» (16) Scanned with CamScanner86 teen Control _of F; Back emf of motor'is ‘given’ by E, = Ke, wh The relation between torque developed by motor is ) T=Ki = But q T= 1,6, + 5,6, ~ where, K, = motor voltage constant K, = motor torque constant 4 " torque generated by motor 0 In = equivalent moment of inertia reflected at the motor shaft = equivalent viscous coefficient reflected at the motor shaft Taking Laplace transform of equations (1) to (4), Vs) = RUs) + Lysl,(s) + E(s) 0) Bi KOI) Doe = IP ay Ts) = Ks) : ns (2) Tis) = 1,s°0,(s) + bs O,(5) a (3) Combining, we can write RJ a [s(t,5 +1) (5 +1] 0,,(8) + K,50,(s) a. (24) V,(5) = L, L, g where, T, = R. and T,, = + are the armature and the motor time constants respectively. The transfer function for the armature-controlled DC motor is then ee o slay Feenrsse (Eee ‘The armature time constant t, is normally small compared to the motor time constant % and the transfer function can be written as. ‘The relation between the output speed and the applied voltage is oa). _K— a) V,) ~ G+D Scanned with CamScannerDrives oe a ©, The relation between the output position and the applied voltage is 8,(s) _ __K 7) V,(s) 5 (ts +1) . From equation (26) and @N), it is noted that the transfer function between the output speed and the applied voltage is of first order, that is when a step voltage is applied to the motor, its speed will rise“€Xponentially toa steady state value. + For angular position, however, the transfer function between the output position and the applied voltage is of 2nd order. + The schematic diagram of an armature-controlled DC motor speed/position control system is shown in Fig. 3.46. Closed-loop speed control is achieved when switch S, is closed. + A voltage proportional to the negative of the output speed, V,, is obtained through a tachogenerator. | + This is subtracted from the input V, using an operational amplifier connected as an adder. |. The error is amplified by a servo-amplifier whose output is used to drive the motor. Nao potentiometer tll 30:1 { jn ee | Viscous Toad Speed feedback ~ Vi se, Position feedback ~ On FIG. 3.46 : ARMATURE-CONTROLLED DC MOTOR IN SPEED AND POSITION CONTROL +The servo-amplifier is required to give the required voltage to drive the motor. The speed control system is of first order and is stable with the output always lagging behind the command input. : ; + By taking the output shaft position and feeding it back to the input, a closed-loop position control system is obtained. pode cine «This ie indicated in Fig. 3-46 with switch S, closed. In the figure, if switch S, is also ao inst speed feedback Joop is also present in addition to the outer position feedback loop. Scanned with CamScanner‘s Control of Hectic Dri, + If can be shown that the closed-loop positicn control system using the arm: te-controtig DC motor, with or without the inner speed feedback loop, is of 2nd orde dl is always a stable. “ + Cohirol actions of the Armature-controlled DC motor in speed and j, “Alrol is ay follows : Switch $, and Switch S, both open : Open loop speed control system Switch S, closed, and Switch $, open: Closed loop speed control systen: Switch S, open, and Switch S, closed : Closed loop position control system without speeq control system Switch $, and Switch S, both closed : Closed loop position control system with inner speed feedback loop. Example-5.1 : A 200 V_de series motor runs at 800 rpm when operating at its full load current of 10 A. The motor resitance is 0.5 Q and magnetic circtuit can be assumed unsaturated, what will be the speed if (a) the load torque is increased by 50% (b) the motor current is 5A. Solution : (a) Back emf Ey =V-In ®, +R) - = 200 - 10 (0.5) E, = 195 V Load torque is increased by 50% T) = 157, 4 moist as iter R= 157 I, = 1.225 x 10 12.25 A Back emf developed Ey =V-1, R, +R) = 200 - 12.25 (0.5) Ey) = 193.87 V = 194 V E, « oN W Scanned with CamScannereeeee0 195 “12.25 800 N, = 650 rpm gock emf developed when motor current is 5A. BE, =V-B(R,+R,) = 200 - 5 (0.5) E, = 197.5 V s agen ED os Ey Ni = ee 5 Ny = 16205 rpm A 200 V de serles motor has armature and field resistance of 0.2 Q and 0.1 Q respectively. It takes a current of 20 A from the supply while running at 1300 rpm. It ies with the motor calculate new armature m external resistance of 2 © is added in se carrent and the speed. Assume load torque is remains constant. Re NI a Solution : Example-5.2 : Torque remains constant Ti = T K, 1% = Kile =20A Ta = ds Before adding external resistance By =V-L &+Re SBD. 2017 1412 a 5% Scanned with CamScannerKdaNy K, x 20 x 1300 Atter adding extemal resis Control of Electric py, Ye = 200 = 20 (0.1 + 0.2) 194 is series V1 (Ry + Ry + Rey) K,L,N, = 200 - 20 (0.1 + 0.2 + 2) K, x 20 x Ny = 154 Dividing equatin (2) and (1) K,.x20xN, 154 K, x20x1300 = jog 154 N, = =x 130 b= 754 * 1300 N, = 1032 rpm Example-53 : Consider a de shunt motor having R, = 0.5 and R, = 220 Q is running at 1200 rpm carrying 15 A from 220 V supply. If the field resistance is increased by 1 new armature current and speed of Solution : Vv 220 Field current R, = oan Lala Armature current Iel-§ =15-1 Ty =l4A T= Ty = Kyla te fio He =K,x1x 14 ayy te Ey = KIN, =V-1,R, K, x 1 x 1200 = 220 - 14 x 05 1200 x K, = 213 calculate the f the motor. Assume the load torque to be constant, Scanned with CamScannerew field current oad remains constant ~ Kindy = Kya] la 1x 14 = 094 x 1, En = KyI,N, =, -1)R, kK, x 0.91 x N, = 220 - 15.385 x 05 K,.x.091. x Ny from (1) and (2) 21 w 2) K,x091KN, 23 K, x1x1200 2123 213 1200 212.3 0.91 7 E88 ms ‘ics of separately excited D.C, motor. N= Explain speed torque characterist aracteristics of D.C. shunt motor. Explain speed torque ch series motor. Explain speed torque characteristics of D.C. Explain speed torque characteristics of PMDC motor Explain the dynamic model of Explain the speed control metho ontrol methods of Ds speed control. D.C. motor drive. ae ree ds of D.C. series motor. Explain the speed c C, shunt motor. Explain Ward Leonard method of Scanned with CamScanner