Unit ‘ontrol of DC Motors by Single & Three Phase Converters U ‘1; Part- ‘ontrol of DC Motors by Single Phase Converters Introduction to Electrical Drives: Motion control is required in large number of industrial and \domestic applications. Systems employed for getting the required motion and théir smooth control are called Drives. Drives require prime movers like’ Dieselvor petrol engines, gas or steam turbines, hydraulic motors or electric, motors. These prime movers deliver the required mechanical energy for getting the motion and its control. Drives employing Electric motors as prime movers for motion control are called Electric Drives. Advantages of Electrical Drives: © The steady state and dynamic performance can’be easily shaped to get the desired load characteristics over a wide range of speeds and torques. * Efficient Starting /Braking is possibsl@ with simple control gear. © With the rapid development inthe field of Power Electronics and availability of high speed/high power devices like SCRs, Power MOSFETs, IGBTs etc., design of Efficient.Power Converters to feed power to the electric drives has become simple and easy. © With the rapid development in the computer’s HW & SW, PLCs and Microcontrollers which can easily perform the control unit functions have become easily available. © Electric motors) have high efficiency, low losses, and considerable overloading eapability. They have longer life, lower noise and lower maintenance'tequirements. * They Can ‘operate in all the four quadrants of operation in the Tordue/Speed plane. The resulting Electric braking capability gives smooth deceleration and hence gives longer life for the equipment. Similarly Regenerative braking results in considerable energy saving. Page 2 Malla Reddy College of Engineering and Technology (MRCET) Department of EEE (2021-22)Unit control of DC Motors by Single & Three Phase Converters © They are powered from electrical energy which can be easily transferred, stored and handled. Block diagram of an Electrical drive: is shown in the figure below. Parts of an Electric Drive: The different parts &their functions are explained here. The load: Can be any one of the systems like pumps, machines et to Carry out a specific task. Usually the load requirements are specified in terms of its speed/torque demands. An electrical motor having the /torque speed characteristics compatible to that of the load has to be chosen, Power Power Converter Motor Load Source | >| >| Control Unit Sensing Unit [ot t Input Command (Reference) Fig: Block diagram of an Electrical drive Power Converter: Petforms one or more of the following functions. * Converts Electrical energy from the source into a form suitable to the motor. Say,AC to DC for a DC motor and DC to AC for an Induction motor. © COhtrdls-the flow of power to the motor so as to get the Torque Speed characteristics as required by the load. Page 3 Malla Reddy College of Engineering and Technology (MRCET) Department of EEE (2021-22)Unit control of DC Motors by Single & Three Phase Converters © During transient operations such as Starting, Braking, Speed reversal ete limits the currents to permissible levels to avoid conditions such as Voltage dips, Overloads etc. © Selects the mode of operation of the Motor i.e Motoring or Braking Types of Power Converters: * There are several types of power converters depending upon,the type of motor used in a given drive. A brief outline of a few important types is given below. * AC to DC converters: They convert single phase/Polyphase AC supply into fixed or variable DC supply using either simple rectifier circuits or controlled rectifiers with devices like thyristors, |GBTs.Power MOSFETs etc. depending upon the application. * AC voltage controllers or AC regulators: They are employed to get a variable AC voltage of the same frequency. from a single phase or three phase supply. Some such controllers are/Auto transformers, Transformers with various taps and Converters using/Power electronics devices. * DC to DC converters: They.are.used to get variable DC voltage from a fixed DC voltage source using Power electronics devices. Smooth step less variable voltage can be obtained with such converters. © Inverters: They are employed to get variable voltage /variable frequency from DC supply using PWM techniques. Inverters also use the same type of Power electronics devices like MOSFETs,IGBTs,SCRs etc. © Cycloconverters: They convert fixed voltage fixed frequency AC supply into variable’ voltage Variable frequency supply to control AC drives. They are also built using Power electronic devices and by using controllers at lower power level. They are single stage converter devices . Control.unit/Sensing unit: The control unit controls the operation of the Power converter"based on the Input command and the feedback signal continuously Page 4 Malla Reddy College of Engineering and Technology (MRCET) Department of EEE (2021-22)Unit control of DC Motors by Single & Three Phase Converters obtained from a suitable point (In a closed loop operation) at the load end so as to get the desired load performance. The sensor unit gets the feedback on voltage and current also to operate the motor within its safe operating conditions. Because of the above advantages, in several applications...like. Diesel locomotives,Ships etc. the mechanical energy already available from a nonelectrical prime mover is first converted into electrical enefgy by generator and then An Electric Drive is used as explained above. Electrical Motors: most commonly used motors are DC ’motors’— Shunt, Series ,Compound etc., AC motors- Suirrelcage & Slip ring induction motors, Special motors like Brushless DC motors, stepper motors etc. DC motors have a number of disadvantages compared to Induction motors due to the presence of commutator and brushes. Squirrel Cage motors are less costly than DC motors of the same rating, highly rugged.and simple. In the earlier days because of easy speed control DC motots|were used in certain applications. But with the development in Power electronics and the advantages of AC motors AC drives have become more popular in sevéral applications in present days. Review of DC Motor Drives: DC drives are widely used in applications requiring adjustable speed, good speed regulation and frequent-starting, braking, and reversing. Although since late sixties, it is being predicted that AC drives would replace DC drives, even today the variable speed applications are dominated by DC drives because of lower cost, reliability and simple control. DC motors and their performance: Basic schematic diagrams of DC separately excited, shunt and Series motors are shown in.thé figure below. Page 5 Malla Reddy College of Engineering and Technology (MRCET) Department of EEE (2021-22)control of DC Motors by Single & Three Phase Converters Fy A 4 i 4yt f 4 + + 7 vr Ay Ay Fy i (a) Separately excited (b) Shunt {eo Series asic Schematic digarams of DC motors a) Ina separately excited DC motor the field and armature are connected to separate voltage sources and can be controlled independently. b) In a shunt motor the field and the armature afe connected to the same source and cannot be controlled independently. c) Ina series motor the field current and armature current are same and hence the field flux is dependent on armature current, The Steady state equivalent circuit of a DC motor Armature is shown in the figure below. Fig: Steady state equivalent circuit of a DC Motor Armature Resistance R, isthe resistance of the armature circuit. For separately excited and shunt motors itis resistance of the armature winding and for series motors it is the sum.of the field winding and armature winding resistances. Page 6 Malla Reddy College of Engineering and Technology (MRCET) Department of EEE (2021-22)Uni Control of DC Motors by Single & Three Phase Converters The output characteristics of DC motors (Torque/Speed characteristics): They can be obtained from the Motor’s Induced voltage and torque equations pltis, the Kirchhoff’s voltage law around the armature circuit and are given below. * The internal voltage generated in a DC motor is given by: En= Ka, D.w © The internal Torque generated ina DC motor is given by: T= Kay @ula © KVLaround the armature circuit is given by 2 Ba=Ept Ry Where @ = Flux per pole a Webers |, = Armature current Amperes Applied terminal Voltage Volts Armature resistance Ohms Motor speed Radians/sec Armature Back EMF Volts Torque Nem Ks = Motor Back EMF/Torque constant Volt.Sec/Rad.web ve or Nw.m/Amp.web From the above three equations We getthe Basic general relation between Torque and speed as: 0) = (Es / Ka. © ) ~ (Ro/ Ka. ©). a = (Ea / Ke ©) -- [Ra/ (Ka. ©] t. Shunt and Separately excited motors: In their case With'a constant field current the field flux can be assumed to be constantand, then (Ks. ©) would be another constant K.Then the above Torque speed relations would become : w = (Ea/ K) - (Ra/ K). la Page 7 Malla Reddy College of Engineering and Technology (MRCET) Department of EEE (2021-22)