DC Advanced Drives Lec-3

Regenerative
Braking
 Regenerative Braking

Vs/v

Vs oIn regenerative mode, the energy of the load is

fed back to the supply.

t/ms
va/v
oThe DC motor works as a generator.
Vs
Ton Toff Va o𝐸𝑏 + 𝑉𝐿 > 𝑉𝑠
T
t/ms V
ia/A
w
iQ iD
Ia
I
T
t/ms
 Regenerative Braking

Vs/v
D

Vs oWhen chopper is ON, Diode will be OFF the

+
La
mechanical energy is converted into electrical
Va t/ms
VS Q2 +
va/v Eb energy, increases the stored magnetic energy in the
- -
Vs
Ton Toff Va armature circuit.
𝑉𝑎 = 0 o𝑉𝑎 = 0, 𝐼𝑠 = 0
T
t/ms Energy
o𝐿𝑎 stores
ia/A
o𝐼𝑎 increases
iQ iD
Ia

t/ms
 Regenerative Braking

+ oWhen chopper is OFF, Diode will be ON

La
oLarge voltage Va = (𝐸 + V𝐿 ) appears across
Va +
VS Q2 the motor terminals.
Eb
oVa > Vs . The energy stored in the inductance
- -
and energy supplied by the machine is fed back
to the supply.

oLa discharge the Energy

oIa decreases and go back to source

 Regenerative Braking

+ oWhen the voltage of the motor fall to Vs , the

diode in the line blocks the current flow. Prevent
La
any current of the motor be supplied to the
Va source.
VS Q2 +
Eb
- oVery effective braking of motor is possible up
-
to extreme small speeds.

𝑇𝑜𝑓𝑓 (𝑇 − 𝑇𝑂𝑁 )
𝑉𝑎 = 𝑉𝑠 ∗ = 𝑉𝑠 ∗
𝑇 𝑇

∴ 𝑉𝑎 = 𝑉𝑠 ∗ (1 − 𝑘)

𝑇𝑜𝑓𝑓
𝐼𝑠 = 𝐼𝑎 ∗ = 𝐼𝑎 ∗ (1 − 𝑘)
𝑇
 DC Chopper Drive

Regenerative Braking

Va
∵ 𝑃𝑠 = Pg = VsIs = ∗ 𝐼 (1 − 𝑘)
(1 − 𝑘) 𝑎

∴ 𝑃𝑠 = Pg = Vs ∗ 𝐼𝑎 (1 − 𝑘)

oAs Duty cycle increase (0.9), the power decreases

Regenerative
Braking

▪ Note:
𝛿𝑚𝑖𝑛 = 90% → Max. speed
𝛿𝑚𝑎𝑥 = 10% → Min. speed
Regenerative
Braking

DC Chopper Drives
T_off T_on
▪ Prove the currents
(ia3, ia4)
 Regenerative Braking

o OFF state:
o ON state:
𝑑𝑖𝑎
𝑉𝑠 = 𝐸 − 𝑅𝑎 ∗ 𝑖𝑎 −𝐿𝑎 ∗ − 𝑅𝑏 ∗ 𝑖𝑎 −∆𝑣 𝑑𝑖𝑎
𝑑𝑡 0 = 𝐸 − 𝑅𝑎 ∗ 𝑖𝑎 −𝐿𝑎 ∗ − ∆𝑣
𝑑𝑡
𝐿𝑎 𝑑𝑖𝑎 𝐸−𝑉𝑠 −∆𝑣
∗ + 𝑖𝑎 = = 𝐼𝑚𝑖𝑛 𝐿𝑎 𝑑𝑖𝑎 𝐸−∆𝑣
(𝑅𝑎+𝑅𝑏 ) 𝑑𝑡 (𝑅𝑎+𝑅𝑏 ) ∗ + 𝑖𝑎 = = 𝐼𝑚𝑎𝑥
(𝑅𝑎) 𝑑𝑡 (𝑅𝑎)
At t=0 , 𝑖𝑎 = 𝑖𝑎3 & At t= 𝑇𝑜𝑓𝑓 , 𝑖𝑎 = 𝑖𝑎4
At t=0 , 𝑖𝑎 = 𝑖𝑎4 & At t= 𝑇𝑜𝑛 , 𝑖𝑎 = 𝑖𝑎3
𝑇𝑜𝑓𝑓
− 𝑇
∴ 𝑖𝑎4 = 𝑖𝑎3 + (𝐼𝑚𝑖𝑛 - 𝑖𝑎3 ) (1 − 𝑒 𝑡 ) − 𝑜𝑛
∴ 𝑖𝑎3 = 𝑖𝑎4 + (𝐼𝑚𝑎𝑥 - 𝑖𝑎4 ) (1 − 𝑒 𝑡 )

𝑖𝑎3 + 𝑖𝑎4
𝐼𝑎𝑣𝑔 =
2
𝑇 = 𝐾∅ ∗ 𝐼𝑎𝑣𝑔
𝑃 =𝑇∗𝑤

Known: 𝜏𝑥 . + 𝑥 + 𝐶 = 0 𝑥 = −𝐶 + 𝐴 ∗ 𝑒 −𝑡/𝜏
 Example-2.5
A two quadrant D.C. chopper is used to control the speed of a D.C. motor.
The D.C. supply voltage is 120 V. The armature resistance is 0.2 Ω and
the inductance is sufficiently large . The motor constant is 0.1 V/rpm. The
chopping frequency is 250 Hz.

For motoring mode at 400 rpm and 100A (ripple free current), determine :
i. Turn-On time of the chopper
ii. Power delivered by the motor, power absorbed by armature
resistance and power from the DC supply.

For regenerative braking mode at 350 rpm and -100A (ripple free
current), determine :

i. Turn-On time of the chopper

ii. Power delivered by the motor, power absorbed by armature
resistance and power from the DC supply.

Solution
Given:
 Example-2.5 Solution
𝑉𝑠 = 120 𝑉 𝐼𝑎 = 100 A 𝑅𝑎 = 0.2 Ω 𝐾∅ = 0.1 𝑉/rpm
𝑛 = 400 𝐹𝑠 = 250 Hz

For motoring Mode:

∵ 𝐸𝑎 = 𝐾∅ ∗ 𝑛 = 0.1 ∗ 400 = 40 𝑉
𝑉𝑎 = 𝐸𝑎 + 𝐼𝑎 ∗ 𝑅𝑎 = 40 + 100 ∗ 0.2 = 60 𝑉
𝑉𝑎 60 1 1
∵𝛿= = = 0.5 , 𝑇= = = 0.004 𝑆𝑒𝑐
𝑉𝑠 120 𝐹 250
∴ 𝑇𝑜𝑛 = 𝛿 ∗ 𝑇 = 0.5 ∗ 0.004 = 0.002 𝑆𝑒𝑐
𝐷𝑒𝑣𝑒𝑙𝑜𝑝𝑒𝑑 𝑃𝑜𝑤𝑒𝑟 𝑏𝑦 𝑚𝑜𝑡𝑜𝑟: 𝑃𝑑 = 𝐸𝑎 ∗ 𝐼𝑎 = 40 ∗ 100 = 4 𝐾𝑤
𝐴𝑏𝑠𝑜𝑟𝑏𝑒𝑑 𝑃𝑜𝑤𝑒𝑟 𝑏𝑦 𝑅𝑎 ∶ 𝑃𝑙𝑜𝑠𝑠 = 𝐼𝑎 2 ∗ 𝑅𝑎 = 10000 ∗ 0.2 = 2 𝐾𝑤
𝐷𝑒𝑣𝑒𝑙𝑜𝑝𝑒𝑑 𝑃𝑜𝑤𝑒𝑟 𝑏𝑦 𝑠𝑜𝑢𝑟𝑐𝑒: 𝑃𝑠 = 𝑉𝑠 ∗ 𝐼𝑠 = 𝑉𝑠 ∗ 𝛿 𝐼𝑎 = 120 ∗ 0.5 ∗ 100
= 6 𝐾𝑤
 Example-2.5 Solution
𝑉𝑠 = 120 𝑉 𝐼𝑎 = 100 A 𝑅𝑎 = 0.2 Ω 𝐾∅ = 0.1 𝑉/rpm
𝑛 = 400 𝐹𝑠 = 250 Hz

For Regenerative Mode:

∵ 𝐸𝑔 = 𝐾∅ ∗ 𝑛 = 0.1 ∗ 350 = 35 𝑉
𝐸𝑔 = 𝑉𝑎 + 𝐼𝑎 ∗ 𝑅𝑎 ⇒ 𝑉𝑎 = 35 − 100 ∗ 0.2 = 15 𝑉
𝑉𝑎
∵ 𝑉𝑎 = 1 − 𝛿 ∗ 𝑉𝑠 ∴𝛿 =1− = 0.875
𝑉𝑠
∴ 𝑇𝑜𝑛 = 𝛿 ∗ 𝑇 = 0.875 ∗ 0.004 = 0.0035 𝑆𝑒𝑐
𝐷𝑒𝑣𝑒𝑙𝑜𝑝𝑒𝑑 𝑃𝑜𝑤𝑒𝑟 𝑏𝑦 𝑚𝑜𝑡𝑜𝑟: 𝑃𝑑 = 𝐸𝑎 ∗ 𝐼𝑎 = 35 ∗ −100 = −3.5 𝐾𝑤
𝐴𝑏𝑠𝑜𝑟𝑏𝑒𝑑 𝑃𝑜𝑤𝑒𝑟 𝑏𝑦 𝑅𝑎 ∶ 𝑃𝑙𝑜𝑠𝑠 = 𝐼𝑎 2 ∗ 𝑅𝑎 = 10000 ∗ 0.2 = 2 𝐾𝑤
𝐷𝑒𝑣𝑒𝑙𝑜𝑝𝑒𝑑 𝑃𝑜𝑤𝑒𝑟 𝑡𝑜 𝑠𝑜𝑢𝑟𝑐𝑒: 𝑃𝑠 = 𝑉𝑠 ∗ 𝐼𝑠 = 𝑉𝑠 ∗ 1 − 𝛿 ∗ 𝐼𝑎
= 120 ∗ 1 − 0.875 ∗ −100 = −1.5 𝐾𝑤
Example-2.6
A D.C. chopper is used in a regenerative braking of a D.C. series motor.
The D.C. supply voltage is 600 V. The armature resistance is 0.03 Ω and
the field resistance is 0.05 Ω. The back e.m.f. constant of the motor is 4.2
V.sec. The average armature current is maintained constant at 350 A. The
armature current is continuous and negligible ripple. If the duty cycle of the
chopper is 50%. Determine the:
i. Average voltage across the chopper.
ii. Power regenerated to the DC supply.
iii. Equivalent load resistance of the motor acting as a generator.
iv. Minimum permissible braking speed.
v. Maximum permissible braking speed.
vi. Motor speed.
Solution
Given:
𝑉𝑠 = 600 𝑉 𝐼𝑎 = 350 A 𝑅𝑡 = 0.08 Ω 𝐾∅ = 4.2 𝑉. 𝑆𝑒𝑐
𝛿 = 0.5
Example-2.6 Solution
i. Average voltage across the chopper

𝑉𝑎 = 1 − 𝛿 ∗ 𝑉𝑠 = 0.5*600=300 V

ii. Power regenerated to the DC supply

𝑃𝑔 = 𝑉𝑎 ∗ 𝐼𝑎 = 300 ∗ 350 = 105 𝑘𝑊

iii. Equivalent load resistance of the motor acting as a generator.

𝐸𝑔 𝑉𝑎 + 𝐼𝑎 ∗ 𝑅𝑡 300 + 350 ∗ 0.08

𝑅𝑒𝑞 = = = = 0.937 Ω
𝐼𝑎 𝐼𝑎 350
Example-3 Solution
iv. Minimum permissible braking speed

∵ At regenerative braking, the 𝑛𝑚in be at 𝐸𝑚in at 𝑉𝑎) min

∴ 𝑛𝑚in be at 𝛿𝑚𝑎𝑥 = 90%

𝐸𝑔 = 𝑉𝑎 + 𝐼𝑎 ∗ 𝑅𝑡 = 1 − 0.9 ∗ 600 + 350 ∗ 0.08 = 88 𝑉

𝑛𝑚in
𝐸𝑔 = 𝐾∅ ∗ w = 𝐾∅ ∗ 2 ∗ π ∗ ∴ 𝑛𝑚in =200 rpm
60
Example-3 Solution
v. Maximum permissible braking speed

𝑛𝑚𝑎𝑥 be at 𝛿𝑚𝑖𝑛 = 10%

𝐸𝑔 = 𝑉𝑎 + 𝐼𝑎 ∗ 𝑅𝑡 = 1 − 0.1 ∗ 600 + 350 ∗ 0.08 = 568 𝑉

∴ 𝑛𝑚𝑎𝑥 = 1292 rpm

v. Motor speed

𝑛 be at δ = 50%

𝐸𝑔 = 𝑉𝑎 + 𝐼𝑎 ∗ 𝑅𝑡 = 1 − 0.5 ∗ 600 + 350 ∗ 0.08 = 328 𝑉 ∴ 𝑛 = 746 rpm

Operation
Modes
Look a head
 Operating Modes
• DC motor may be operating in one or more modes:
– Motoring,

– Regenerative braking,

– Dynamic braking,

– Plugging, and

– Four quadrants.
• Motoring:
The Back emf 𝐸𝑔 < 𝑉𝑎 .
Both armature and field currents are positive.
The motor develops torque to meet the load demand.
 Regenerative braking
• The motor acts as a generator and develops an induced voltage 𝐸𝑔 > 𝑉𝑎 .
• The armature current is negative, but the field current is positive.
• The kinetic energy of the motor is returned to the supply.
• A series motor is working as a self-excited generator.
• For self-excitation, it is necessary that the field current aids the residual
flux. This is normally accomplished by reversing the armature terminals
or the field terminals.
 Dynamic braking
• Same as regenerative braking, except Va is replaced by Rb,.
• The kinetic energy of the motor is dissipated in Rb.
 Plugging
• The armature terminals are reversed while running.
• The supply voltage Va and the induced voltage Eg act in the same
direction.
• The armature current is reversed, producing a braking torque.
• For a series motor, either the armature terminals or field terminals
should be reversed, but not both.
• The field current is positive.
Thanks