Control of Electric Machine (epm431)

“Electrical Drive Systems”

Lecture No. 5
30/10/2022
by:
Dr: Naema Mansour
Drawbacks of the thyristor drives:-

1) The higher ripple content of the thyristor converter output adds to motor heating and
commutation problems. So, the addition of a reactor in the armature circuit may be
required to smooth out the ripple current.
2) Under high firing angle operating conditions, the power factor in the AC supply is low.
(In the M-G set system, if a synchronous motor is used, the supply power factor can be
kept high by adjusting the field excitation of the synchronous motor).
3) The overload capability of thyristor converter is lower than that of a comparable M-G set.
4) Distortion of the supply voltage and electromagnetic interference may be produced due
to the switching action of thyristors.
The advantages of using the thyristor as an element for controlled rectification are as follows:-
1) A firing circuit (or a gate control circuit) can be constituted with the help of digital electronic devices, a recent trend being
the use of microprocessors for this purpose..
2) Thyristorized circuits are compact and need very little maintenance.
3) By properly changing the firing instant, thyristorized rectifier circuits can also be used for inversions. This mode of
operation is adopted in applications, such as hoist control, that involve regenerative braking.
4) Have fast response.
5) Reliable operation.
6) High operating efficiency.
7) Small size, less weight and packaging flexibility of DC drives result in reduced space requirements.
8) Low initial cost and low installation and operating costs.
5) When used for rectification purposes, a thyristor does not need a separate circuit for turning off. This is because, in the
negative half-cycle, the polarity of the anode-to-cathode voltage applied to the device is reversed and this turns the thyristor
off in a natural manner.

 A controlled rectifier is an important component of a DC drive, which consists of a DC motor, a rectifier, and thyristorized
power-control circuits together with relevant firing circuitry.
 DC drives are driven by rectifiers.
 AC drives are controlled by inverters, AC controllers, or cycloconverters.
 In DC drives the speed of the motor is controlled by varying the armature voltage.
 On the other hand, speed control of AC drives involves the variation of both the magnitude and frequency of
the applied voltage. Though the commutator of a DC motor makes it a costlier proposition, the precision
obtained with it for speed control is higher than that obtained with an AC drive.
A power electronic circuit is used to interface an AC source or a DC source
with fixed parameters to an electric machine that requires variable and
adjustable AC or DC supply at its terminals.

Power electronic interface between a fixed source and an

electric machine
Components of a DC Drive
The main components of a DC drive system are shown in the figure.

1) DC Drive Input:
Some thyristor-based DC drives operate on:-
a) A single -phase supply and use four
thyristors for full wave rectification.
b) For larger motors, three phase power
supply is needed because the waveforms
are much smoother. In such cases, six
thyristors are needed for full wave
rectification.

2) Rectifier Bridge:
 From the power component of a controlled DC drive is a full wave bridge rectifier which can be
driven by three phase or single-phase supply. The number of thyristor may vary depends on the
supply voltage. The firing angle control of these thyristors varies the voltage to the motor.
Components of a DC Drive
The main components of a DC drive system are shown in the figure.
3) Field Supply Unit:
The power to be applied to the field winding is much lower than the armature power, so, most often single-
phase supply is provided.
 A separate thyristor bridge or diode rectifier is used for supplying the power to the field winding of the motor.
The function of the field supply unit is to provide a constant voltage to the field winding to create a constant
field or flux in the motor.
 In some cases, this unit is supplied with thyristors to reduce the voltage applied to the field so as to control the
speed of the motor above the base speed

In case of permanent

magnet DC motors, the
field supply unit is not
included in the drive.
4) Speed Regulation unit:
 It compares the operator instruction (desired speed) with feedback signals and sends appropriate signals to
the firing circuit.
 In analog drives, this regulator unit consists of both voltage and current regulators.
 The voltage regulator accepts the speed error as input and produces the voltage output which is then applied
to the current regulator.
 The current regulator then produces required firing current to the firing circuit. If more speed is required,
additional current is called from the voltage regulator and hence thyristors conducts for more periods.
 Generally, this regulation (both voltage and current) is accomplished with proportional-integral-derivative
controllers (PID controller).

 The field current regulator is also provided where speed

greater than the base speed is required.
 In modern digital microprocessor-based drives, the speed
control is achieved with a lookup table to determine the
current for the firing circuit with additional digital
circuitry.

4) Firing Circuit: It supplies the gate pulses to thyristors so

that they turned ON for periods to produce variable
armature voltage.
DC drives can be classified, in general, into three types:
1) Single-phase drives.  The armature current of half-wave
a) Single-phase half-wave converter drives. converter drives is normally
b) Single-phase semi-converter drives discontinuous. This type of drive is not
c) Single-phase full-converter drives commonly used.
 A semi-converter drive operates in one
d) Single-phase dual-converter drives.
quadrant in applications up to 1.5 kW.
2) Three-phase drives.  The full converter and dual drives are more
a) Three-phase half-wave-converter drives. commonly used.
b) Three-phase semi-converter drives.  Three phase half-wave converters are
c) Three-phase full-converter drives. not normally used in industrial
d) Three-phase dual-converter drives. applications.

3) DC–DC converter drives.`

 Single-phase drives are used in low-power applications to 100 kW.
 Three-phase drives are used for applications in the range 100 kW to 500 kW.
 The power range can go as high as 1 MW for high-power drives. These drives generally require harmonic
filters, and their size could be quite bulky.
1) Single phase drive:-
The basic circuit arrangement for a single-phase
converter-fed separately excited DC motor is
shown in the figure.
If the armature circuit of a DC motor is
connected to the output of a single-phase
controlled rectifier, the armature voltage can be
varied by varying the delay angle of the converter
𝜶𝒂 .
At a low delay angle, the armature current may be
discontinuous, and this would increase the losses in
the motor.
A smoothing inductor, 𝑳𝒎 , is normally connected
in series with the armature circuit to reduce the
ripple current to an acceptable magnitude. Basic circuit arrangement of a single-phase
A converter is also applied in the field circuit to DC drive.
control the field current by varying the delay angle
𝜶𝒇 .
a) Single-phase half-wave converter drives:-
 This DC drive is:-
1) Very simple.
2) Needs only one power switch and one freewheeling diode
connected across the motor terminals (to dissipate the
energy stored in the inductance of the motor - to provide an
alternative path for the motor current to allow the power
switch to commutate easily).
 For the case 𝜶 = 𝟖𝟎𝒐 .
The circuit of a single-phase half-wave
During the interval 𝜷 < 𝝎𝒕 < 𝟐𝝅 , the armature current is converter drive used to control the speed of
zero, hence the torque developed by the motor is zero, the separately-excited motor.
speed of the motor will be reduced.
 Since the mechanical time constant of the motor is larger than
its electrical time constant, the inertia of the motor will
maintain the speed, but its value will fluctuate resulting in poor
motor performance. Therefore, this type of drive is rarely used.
 The power device connects the supply to the motor for few half-
cycles and disconnects the motor for few half-cycles. This
control is satisfactory if the supply frequency is high.
Otherwise, the motor oscillates about its mean speed. This
method has not been found satisfactory for speed control of DC Waveforms for steady-state operation of the
motors. single-phase half-wave rectifier with motor load.
The average value of the armature voltage can be evaluated as follows:
Assuming the supply voltage:-
𝒗𝒔 𝝎𝒕 = 𝒗𝒎 𝐬𝐢𝐧(𝝎𝒕)
 Thus, in the positive half-cycle, 𝑻𝟏 will conduct from α to π , where α is the
firing angle, and 𝑫𝑭𝑾 will conduct from 𝝅 𝒕𝒐 𝜷, where 𝜷 is the extinction angle
of the current. Hence the average value of the armature current will be,

𝟏 𝝅 𝟏 𝝅
𝑽𝒂(𝒂𝒗) = න 𝑽𝒔 𝝎𝒕 𝒅𝝎𝒕 = න 𝑽𝒎 𝒔𝒊𝒏 𝝎𝒕 𝒅𝝎𝒕
𝟐𝝅 𝜶 𝟐𝝅 𝜶

𝑽𝒎
𝑽𝒂(𝒂𝒗) = (𝟏 + 𝐜𝐨𝐬 𝜶)
𝟐𝝅
It is noted that the thyristor 𝑻𝟏 is only conducts when supply voltage exceeds back
𝑒𝑚𝑓 𝑬𝒂 .
Therefore, we define two triggering angles 𝜶𝒎𝒊𝒏 and 𝛼𝑚𝑎𝑥 as,
𝜶𝒎𝒊𝒏 is the minimum firing angle below which the thyristor cannot be triggered. i.e.
when the supply voltage
𝑽𝒎 𝒔𝒊𝒏𝜶 < 𝑬𝒂 .
This angle can be calculated as,

𝑽𝒎 𝒔𝒊𝒏𝜶𝒎𝒊𝒏 = 𝑬𝒂

𝑬𝒂
𝜶𝒎𝒊𝒏 = 𝐬𝐢𝐧−𝟏
𝑽𝒎
Similarly, 𝜶𝒎𝒂𝒙 is the maximum firing angle above which the thyristor cannot be
triggered. Its value is given by
𝑬𝒂
𝜶𝒎𝒂𝒙 = 𝝅 − 𝒔𝒊𝒏−𝟏
𝑽𝒎
The speed of the motor can be calculated from the general equation of the speed
of DC motor as,
𝑽𝒂(𝒂𝒗) 𝑹𝒂
𝝎= − 𝟐
𝑻𝑳
𝑲𝒗 𝑰𝒇 𝑲𝒗 𝑲𝑻 𝑰𝒇
Substituting for 𝑉𝑎(𝑎𝑣)
𝑽𝒎 𝑹𝒂
𝝎= (𝟏 + 𝒄𝒐𝒔 𝜶) − 𝟐
𝑻𝑳
𝟐𝝅𝑲𝒗 𝑰𝒇 𝑲𝒗 𝑲𝑻 𝑰𝒇
 The starting torque can also be calculated by setting 𝝎 equal zero and
calculate the torque,
𝑲𝑻 𝑽𝒎 𝑰𝒇
𝑻𝒔𝒕 = (𝟏 + 𝒄𝒐𝒔 𝜶)
𝟐𝝅𝑹𝒂
The no load speed is calculated by setting 𝑻𝑳 = 0 to give,
𝑽𝒎
𝝎𝒏𝒍 = (𝟏 + 𝒄𝒐𝒔 𝜶)
𝟐𝝅𝑲𝒗 𝑰𝒇
By knowing 𝝎𝒏𝒍 and 𝑻𝒔𝒕 , the mechanical characteristics of the motor can be
obtained for various values of the triggering angle 𝜶 as in the figure:
𝑲𝑻 𝑽𝒎 𝑰𝒇
𝑻𝒔𝒕 = (𝟏 + 𝒄𝒐𝒔 𝜶)
𝟐𝝅𝑹𝒂

𝑽𝒎
𝝎𝒏𝒍 = (𝟏 + 𝒄𝒐𝒔 𝜶)
𝟐𝝅𝑲𝒗 𝑰𝒇

 The supply voltage is:-

𝑽𝒓𝒎𝒔 = 𝟔𝟎𝑽 ,
 The motor armature
resistance 𝑹𝒂 = 𝟎. 𝟓 𝛀
 The motor voltage constant
𝑲𝒗 = 𝟏. 𝟎𝐕. 𝐬/𝐫𝐚𝐝
Assume 𝑲𝒗 = 𝑲𝑻
Speed-torque characteristics of a separately-excited DC motor controlled
by single-phase half-wave rectifier drive.
b) Single-Phase Semi-converter Drives
Single phase semi-converter circuit is a full
wave-half controlled bridge converter which
uses two thyristors and two diodes
connected in the form of a full wave bridge
configuration.
The two thyristors are controlled power
switches which are turned on one after the
other by applying suitable gating signals (gate
trigger pulses).
 The two diodes are uncontrolled power
switches which turn-on and conduct one after
the other when they are forward biased.
When the load inductance is large the load
current flows continuously and we can
consider the continuous load current
operation assuming constant load current,
with negligible current ripple.
Single-Phase Semi-converter Drives
(continue)
1) It has only one polarity of output voltage
and current.
2) It is a single quadrant converter.
3) It is limited to applications up to 15 kW.
A single-phase semi-converter feeds the
The converter in the field circuit can be a armature circuit
semi-converter.

Quadrant of single-phase semi-

converter drive Waveforms of single-phase semi-converter drive
With a single-phase semi-converter in the armature circuit, the
average armature voltage is given
𝝅
by:-
𝟐
𝑽𝒂 = න 𝑽 𝐬𝐢𝐧 𝝎𝒕 𝒅𝝎𝒕
𝟐𝝅 𝜶 𝒎

𝟐𝑽𝒎 𝝅
𝑽𝒂 = −𝒄𝒐𝒔𝝎𝒕 𝜶𝒂
𝟐𝝅

𝑽𝒎
𝑽𝒂 = −𝒄𝒐𝒔𝝅 + 𝒄𝒐𝒔 𝜶𝒂 , 𝒄𝒐𝒔𝝅 = −𝟏
𝝅

𝑽𝒎
𝑽𝒂 = 𝟏 + 𝒄𝒐𝒔𝜶𝒂 𝒇𝒐𝒓 𝟎. 𝟎 ≤ 𝜶𝒂 ≤ 𝝅
𝝅
𝟐𝑽
𝑽𝒂 can be varied from 𝒎 to 𝟎 by varying 𝜶𝒂 from 𝟎 to 𝝅.
𝝅
With a semi-converter in the field circuit, the average field
voltage is given by:-
𝑽𝒎
𝑽𝒇 = 𝟏 + 𝒄𝒐𝒔𝜶𝒇 𝒇𝒐𝒓 𝟎. 𝟎 ≤ 𝜶𝒇 ≤ 𝝅
𝝅
c) Single-Phase Full-Converter Drives
In this drive system, the armature voltage is
varied by a single-phase full-wave converter.
The fully controlled bridge converter consists
of four thyristors connected in the form of full
wave bridge configuration as shown in the figure.
Each thyristor is controlled and turned on by its
gating signal and naturally turns off when a  The circuit diagram of a single phase fully
reverse voltage appears across it. controlled bridge converter is shown in the figure
with a highly inductive load so that the load current
During regeneration for reversing the direction of is continuous and ripple free (constant load current
power flow, the back e𝒎𝒇 of the motor can be operation).
reversed by reversing the field excitation. The
converter in the field circuit could be a semi, a
full, or even a dual converter.

The reversal of the armature or

field allows operation in the second  It is a two-quadrant drive in the 𝑽𝒂 −𝑰𝒂 𝒑𝒍𝒂𝒏𝒆.
 The armature converter gives +𝑽𝒂 𝒐𝒓 −𝑽𝒂 and allows
and third quadrants in the 𝝎
operation in the first and fourth quadrants 𝐨𝐧 𝐭𝐡𝐞 𝝎
− 𝑻 𝒑𝒍𝒂𝒏𝒆. − 𝑻 𝒑𝒍𝒂𝒏𝒆.
During the +𝒗𝒆 half cycle, the thyristors 𝑻𝟏 𝒂𝒏𝒅 𝑻𝟐 are forward biased during the time interval
𝝎𝒕 = 𝟎 𝒕𝒐 𝝅.
𝑻𝟏 𝒂𝒏𝒅 𝑻𝟐 are triggered simultaneously at 𝝎𝒕 = 𝜶; 𝟎 ≤ 𝜶 ≤ 𝝅 .
The load is connected to the input supply through the conducting thyristors 𝑻𝟏 𝒂𝒏𝒅 𝑻𝟐 .
The output voltage across the load follows the input supply voltage and hence output voltage 𝑽𝒐
= 𝑽𝒎 𝐬𝐢𝐧 𝝎𝒕.
Due to the inductive load 𝑻𝟏 𝒂𝒏𝒅 𝑻𝟐 continue to conduct beyond 𝝎𝒕 = 𝝅, even though the input
voltage becomes negative. 𝑻𝟏 𝒂𝒏𝒅 𝑻𝟐 conduct together during the time period 𝜶 𝒕𝒐 (𝝅 + 𝜶) , for a
time duration of 𝝅 𝒓𝒂𝒅.

𝑻𝟏
𝑻𝟑

𝑻𝟒 𝑻𝟐

Single-Phase Full-Converter Drives

 During the −𝒗𝒆 half cycle:-
 for 𝝎𝒕 = 𝝅 𝒕𝒐 𝟐𝝅 the thyristors 𝑻𝟑 𝒂𝒏𝒅 𝑻𝟒 are forward biased.
 𝑻𝟑 𝒂𝒏𝒅 𝑻𝟒 are triggered at 𝝎𝒕 = 𝝅 + 𝜶.
 As soon as the thyristors 𝑻𝟑 𝒂𝒏𝒅 𝑻𝟒 are triggered a reverse voltage appears across the thyristors 𝑻𝟏 𝒂𝒏𝒅 𝑻𝟐 and
they naturally turn-off and the load current is transferred from 𝑻𝟏 𝒂𝒏𝒅 𝑻𝟐 to the thyristors 𝑻𝟑 𝒂𝒏𝒅 𝑻𝟒 .
 The output voltage across the load follows the supply voltage and 𝑽𝒐 = −𝑽𝒎 𝐬𝐢𝐧 𝝎𝒕 during the time period .
𝛚𝒕 = 𝜶 + 𝝅 𝒕𝒐 (𝜶 + 𝟐𝝅) .
 The figure shows the waveforms of the input supply voltage, the output load voltage, the constant load current
with negligible ripple and the input supply current.

𝑻𝟏
𝑻𝟑

𝑻𝟒 𝑻𝟐
During the period from 𝜶 𝒕𝒐 𝝅, the input voltage 𝒗𝒔 and input current 𝒊𝒔 are positive,
and the power flows from the supply to the load. The converter is said to be operated in
rectification mode.
During the period from 𝝅 𝒕𝒐 𝝅 + 𝜶, the input voltage 𝒗𝒔 is negative and the input
current 𝒊𝒔 is positive, and reverse power flows from the load to the supply. The
converter is said to be operated in inversion mode.
Depending on the value of 𝜶, the average output voltage could be either positive or
negative and it provides two-quadrant operation.
With a single-phase full-wave converter in the armature circuit, the following equation gives
the average armature voltage as:

𝟐 𝜶+𝝅 𝟐 𝑽𝒎 𝜶+𝝅
𝑽𝒂 = න 𝑽𝒎 𝒔𝒊𝒏𝝎𝒕 𝒅𝝎𝒕 = − 𝐜𝐨𝐬 𝝎𝒕 𝜶
𝟐𝝅 𝜶 𝟐𝝅

𝟐𝑽𝒎
𝑽𝒂 = 𝐜𝐨𝐬 𝜶𝒂 𝒇𝒐𝒓 𝟎 ≤ 𝜶𝒂 ≤ 𝝅
𝝅
𝟐𝑽 −𝟐𝑽𝒎
The value of 𝑉𝑎 can be varied from 𝒎 to by varying 𝜶 from 𝟎 𝒕𝒐 𝝅.
𝝅 𝝅
The maximum average output voltage is
𝟐𝑽𝒎
𝑉𝑎𝑚 =
𝝅
With a single-phase full-converter in the field circuit, the field voltage is given by:
𝟐𝑽𝒎
𝑽𝒇 = 𝒄𝒐𝒔 𝜶𝒇 𝒇𝒐𝒓 𝟎 ≤ 𝜶𝒇 ≤ 𝝅
𝝅
 The Single Phase Fully Controlled Rectifier of DC Motor is shown in the Fig. (a). Motor is
shown by its equivalent circuit. Field supply is not shown. When field control is required,
field is fed from a controlled rectifier, otherwise from an uncontrolled rectifier.
 The motor terminal voltage and current waveforms for the dominant discontinuous
conduction and continuous conduction modes are shown in Figs. (b) and (c).
The drive operates in quadrants 𝑰 (forward motoring) and 𝑰𝑽 (reverse regenerative braking). These operations can
be explained as follows:
𝟐𝑽𝒎 𝑹𝒂
From 𝝎= cos 𝜶 − 𝑻 (considering constant field current)
𝝅𝑲 𝑲𝟐
Under the assumption of continuous conduction, DC output voltage of rectifier varies with α as shown in Fig.
a) When working in quadrant I, 𝝎 is positive and 𝜶 ≤ 𝟗𝟎° and polarities of 𝑽𝒂 and 𝑬 are shown in Fig. a For
positive 𝑰𝒂 this causes rectifier to deliver power and the motor to consume it, thus giving forward motoring.
b) Polarities of 𝑬 , 𝑰𝒂 and 𝑽𝒂 for quadrant IV operation are shown in Fig. (c). 𝑬 has reversed due to reversal of
𝝎. Since 𝑰𝒂 is still in same direction, machine is working as a generator producing braking torque. Further
due to α > 90°, 𝑽𝒂 is negative, suggesting that the rectifier now takes power from DC terminals and transfers it
to AC source. This operation of rectifier is called inversion and the rectifier is said to operate as an inverter.
Since generated power is supplied to the source in this operation, it is regenerative braking.
 Two quadrant operation capability of the drive can be
utilized only with overhauling loads or other active loads
which can drive the motor in reverse direction.
 In a normal two quadrant operation of a motor one needs
forward motoring (quadrant I) and forward braking
(quadrant II) which cannot be provided by the drive of Fig.
(a).
What does Overhauling mean?
A condition which exists when a motor is coupled to a load requiring a speed which is faster than required by the drive.
The drive then tries to slow speed of motor. This condition causes the motor to act as a generator and return energy back
to the drive
d) Single-Phase Dual-Converter Drives
Either converter 1 operates to supply a positive armature
voltage, 𝑽𝒂 , or converter 2 operates to supply a negative
armature voltage, −𝑽𝒂 .
Converter 1 provides operation in the first and fourth quadrants,
and converter 2, in the second and third quadrants.
It is a four-quadrant drive and permits four modes of operation:
1) Forward powering.
2) Forward braking (regeneration).
3) Reverse powering.  If two single phase full
4) Reverse braking (regeneration). converters are connected in
parallel and in opposite
 We have seen in the case of a single-phase full converter with direction (connected in back-
inductive loads the converter can operate in two different quadrants to-back) across a common
in the 𝑽𝒂 − 𝑰𝒂 𝒑𝒍𝒂𝒏𝒆. load four quadrant
 If two of these full converters are connected back to back, both the operation is possible. Such a
output voltage and the load current flow can be reversed. converter is called as a dual
converter.
 The field converter could be a full-wave, a semi, or a dual converter.
 If converter 1 operates with a delay angle of 𝜶𝒂𝟏 , the armature voltage is given by..
𝟐𝑽𝒎
𝑽𝒂 = 𝐜𝐨𝐬 𝜶𝒂𝟏 𝒇𝒐𝒓 𝟎 ≤ 𝜶𝒂𝟏 ≤ 𝝅
𝝅
 If converter 2 operates with a delay angle of 𝜶𝒂𝟐 , the armature voltage is given by..
𝟐𝑽𝒎
𝑽𝒂 = 𝐜𝐨𝐬 𝜶𝒂𝟐 𝒇𝒐𝒓 𝟎 ≤ 𝜶𝒂𝟐 ≤ 𝝅
𝝅
 Where 𝜶𝒂𝟐 = 𝝅 − 𝜶𝒂𝟏
 With a full converter in the field circuit, the field voltage is given by…
𝟐𝑽𝒎
𝑽𝒇 = 𝒄𝒐𝒔 𝜶𝒇 𝒇𝒐𝒓 𝟎 ≤ 𝜶𝒇 ≤ 𝝅
𝝅
 Because one converter is rectifying and the other one is inverting,
𝑽𝒂 𝒇𝒐𝒓 𝒄𝒐𝒏𝒗𝒆𝒓𝒕𝒆𝒓 𝟏 = −𝑽𝒂 𝒇𝒐𝒓 𝒄𝒐𝒏𝒗𝒆𝒓𝒕𝒆𝒓 𝟐
or 𝐜𝐨𝐬 𝜶𝟐 = − 𝐜𝐨𝐬 𝜶𝟏 = 𝒄𝒐𝒔(𝝅 − 𝜶𝟏 ) 𝜶𝟐 = 𝝅 − 𝜶𝟏
The delay angles are controlled such that one converter operates
as a rectifier and the other converter operates as an inverter; but
both converters produce the same average output voltage.
Gating sequence. The gating sequence is as follows:
1. Gate the positive converter with a delay angle of 𝜶𝟏 = 𝜶.
2. Gate the negative converter with a delay angle of 𝜶𝟐 = 𝝅 −
𝜶 through gate isolating circuits.
𝝅
For 0 ≤ 𝜶𝟏 ≤ only the converter 1 supplies a positive load
𝟐
current +𝒊𝒐 .
𝝅
For ≤ 𝜶𝟏 ≤ 𝝅, the converter 2 supplies a negative load current Single-phase dual converter. Input supply
𝟐
voltage, Output voltage for converter 1,
− 𝒊𝒐 . Output voltage for converter 2,