SOLID STATE DRIVES

UNIT-II
 SOLID STATE SPEED
CONTROL OF DC MOTOR.
The DC motor speed can be controlled
through power semiconductor switches. Here
the power semiconductor switches are SCR,
MOSFET, IGBT, etc.
Types of DC drives:
• Phase controlled rectifier fed DC drives
• Chopper fed DC drives
 Phase controlled rectifier fed DC
Drives
AC SOURCE PHASE CONTROLLED
RECTIFIER DC MOTOR LOAD
Here AC supply is fed to the phase controlled
rectifier circuit. AC supply may be single
phase or three phase controlled rectifier
converts fixed AC voltage into variable DC
voltage. Here the circuit consist of SCRs. By
varying the SCR firing angle the output voltage
can be controlled.
 The variable output voltage is fed to the DC
motor. By varying the motor input voltage,
the motor speed can be controlled.
 Advantages of Thyristorised
Drives:
• Basic operation is simple and reliable
• Time response is faster
• Operating efficiency is high about 95%.
• Small size
• Less weight
• Low initial cost
 Disadvantages of Thyristorised
Drives:
• Higher ripple content of the converter output
adds to the motor heating and commutation
problems.
• The overload capacity is lower.
• Under certain operating conditions, the power
factor in AC supply is low.
• Om the thyristor converter, complex control
circuitry is required to achieve regeneration.
Single phase Half wave converter
drives:
Assume armature current Ia is constant. Here the motor is
separately excited DC motor. Motor is operated from single
phase have wave controlled rectifier. Motor field winding is
fed through separate DC source.
 Contents

• Steady state analysis of the single and three

phase converter fed separately excited DC
motor drive – continuous and discontinuous
conduction – Time ratio and current limit
control – 4quadrant operation of converter /
chopper fed drive.
 SCR “phase-angle controlled” DC drives

• By changing the firing angle, variable DC output voltage can

be obtained.
• Single phase (low power) and three phase (high and very
high power) supply can be used
• The line current is unidirectional, but the output voltage can
reverse polarity. Hence 2- quadrant operation is inherently
possible.
• 4-quadrant is also possible using “two sets” of controlled
rectifiers.
Single phase Full converter fed Dc drive

(a)

(b) (c )
Fig. (a) 1-PHASE THYRISTOR BRIDGE WITH R-L-E LOAD
(b) CONTINUOUS CONDUCTION RECTIFICATION (Mode-A)
(c ) DISCONTINUOUS CONDUCTION RECTIFICATION (Mode-B)
 (a)

(b)

Fig. (a) CONTINUOUS CONDUCTION INVERSION MODE (Mode-C)

(b) DISCONTINUOUS CONDUCTION INVERSION MODE (Mode-D)
 2
Vd  Vm cos   Vc  I d R.....(1), Vc  K m  K ' N ...(2), Te  KI d ...(3)

TYPICAL TORQUE-SPEED CURVES OF DC MOTOR WITH 1-
PHASE BRIDGE CONVERTER
Three phase converter fed DC drive

Fig. THREE-PHASE BRIDGE CONVERTER WITH DC MOTOR LOAD

 v
 va vb vc
Q1 Q3 Q5

vd
0 (a)
t

Q6  Q2 Q4

vd 60°

0 (b)
t
iQ 1
iQ
3
iQ
5

iQ
Id
0 (c)
t
iQ 6
iQ 2
iQ 4

iQ
Id
0 (d)
120° t
30 + 
ia

0 (e)
120° 60° Id t

ib

0 (f)
t

iL Id
Id
0 (g)
t
60° 60°
60°

Fig. 3-PHASE THYRISTOR BRIDGE WAVEFORMS IN

RECTIFICATION MODE ( = 40) (Mode-A)
 
Q4 va Q6 vb Q2 vc
v
vd
0
t

Q3 Q5 Q1 Q3


vd

0  t
3

vba vca vcb vab vac vbc

iQ iQ iQ
iQ 5 1 3

0
Id t

iQ iQ iQ
iQ 4 6 2

0
t
va
i1
ia

t

Fig. PHASE THYRISTOR BRIDGE WAVEFORMS IN

INVERTING MODE ( = 150) (Mode – C)
 Vab Vac Vbc Vba Vca
Vd

(a) Vc

id

  t
0  
Q1Q6
 Q1Q2

 Q1Q6 Q1Q2
id

0 t
2

 /3

(b)

Vc

vbc vba vca vcb vab vac

Fig. WAVEFORMS OF THREE-PHASE THYRISTOR BRIDGE CONVERTER AT DISCONTINUOUS

CONDUCTION
(UPPER) RECTIFICATION MODE (Mode-B), (LOWER) INVERSION MODE(Mode-D)
Fig. TYPICAL TORQUE-SPEED CURVES OF DC MOTOR WITH
THREE-PHASE THYRISTOR BRIDGE CONVERTER
 Chopper fed DC drives
• Supply is DC (maybe from rectified-filtered AC, or some other
DC sources).
• DC-DC converters (coppers) are used.
• suitable for applications requiring position control or fast
response, for example in servo applications, robotics, etc.
• Normally operate at high frequency
– the average output voltage response is significantly faster
– the armature current ripple is relatively less than the controlled
rectifier
• In terms of quadrant of operations, 3 possible configurations
are possible:
– single quadrant,
– two–quadrant and four–quadrant
 DC-DC Converter Drives

• Principle of Power Control

• Principle of Regenerative Brake Control
• Principle of Rheostatic Brake Control
• Combined Regenerative and Rheostatic Brake
Control
• Two and Four Quadrant DC – DC Converter
Drives
Converter-fed DC Drive for a
Separately-Excited Motor
Waveform Summary
Highly Inductive Load
Ripple-free Armature Current
 Principle of Power Control

• The average armature voltage is

Va  kVs
• The power supplied to the motor is

Po  Va I a  kVs I a
 Principle of Power Control (continued)

• The average value of the input current is

I s  kI a
• The equivalent input resistance seen by the source is

Vs Vs
Req  
I s kI a

Control Power Flow by adjusting the duty cycle

 Principle of Power Control (continued)

• To find the maximum peak-to-peak ripple current

Vs Rm
I max  tanh
Rm 4 fLm
Application of a DC – DC Converter
in Regenerative Braking
 Waveform Summary
Armature Current Continuous
and Ripple-Free
 Regenerative Braking
• Begin with the motor
turning by kinetic energy
of the vehicle
• Armature current flows
as shown
• Turn the transistor on
• Armature current rises
• Turn the transistor off
• Diode turns on, current
flows into the supply
 Principle of Regenerative Braking

• The average voltage across the transistor is

Vch  (1  k )Vs
• The regenerated power can be found from

Pg  I aVs (1  k )
 Principle of Regenerative Braking (continued)

• The voltage generated by the motor acting as a

generator is
Eg  K v I f 
E g  Vch  Rm I a  (1  k )Vs  Rm I a
• The equivalent load resistance of the motor acting as
a generator is Control Power by changing k

EgVs
Req   (1  k )  Rm
Ia Ia
0  ( E g  Rm I a )  Vs
E g  K v min I f  Rm I a
Rm I a
 min  Minimum Braking Speed
Kv I f
   min

K v max I f  Rm I a  Vs
Vs Rm I a Maximum Braking
 max   Speed
Kv I f Kv I f
   max
Example

A dc-dc converter is used in regenerative braking of a dc series motor similar to the arrangement shown below. The dc
supply voltage is 600V. The armature resistance is R a = 0.02Ω and the field resistance is R f = 0.03Ω. The back emf
constant is Kv = 15.27mV/A rad/s. The average armature current is maintained constant at I a = 250A. The armature
current is continuous and has negligible ripple. If the duty cycle of the dc-dc converter is 60%, determine the following:

For this example, the field and

armature need to be in series
Example 15.8

Solution

Vs  600V
I a  250 A
K v  0.01527V / Arad / s
k  0.6
Rm  Ra  R f

Determine the average voltage across the converter.

Vch  (1  k )Vs
Vch  (1  0.6)(600V )  240V

Determine the power regenerated to the dc supply

Pg  I aVs (1  k )
Pg  (250 A)(600V )(1  0.6)  60kW

Determine the equivalent resistance of the motor acting as a generator

Eg Vs
Req   (1  k )  Rm
Ia Ia
Rm  Ra  R f  0.02  0.03  0.05
600V
Req  (1  0.6)  0.05  1.01
250 A
Determine the minimum permissible braking speed ωmin

Rm I a 0.05 250 A
min    3.274rad / s
K v I f 0.01527V / Arad / s 250 A
1rev 60 s
min  3.274rad / s  31.26rpm
2 rad 1min

Determine the maximum permissible braking speed ωmax

Vs R I
max   m a
Kv I f Kv I f
600V 0.05
max  
(0.01527V / Arad / s)(250 A) 0.01527V / Arad / s
max  160.445rad / s
 30 
max  160.445    1532.14rpm
 

Determine the motor speed

Eg
Eg  K v I f    
Kv I f
Eg  (1  k )Vs  Rm I a  240V  (0.05)(250 A)  252.5V
252.5V
  66.14rad / s
(0.01527V / Arad / s)(250 A)
 30 
  66.14    631.6rpm
 
Rheostatic Brake Control
Dynamic Braking
Waveform Summary
 Principle of Rheostatic Brake Control

• The average current in the braking resistor is

I b  I a (1  k )

• The average voltage across the braking resistor is

Vb  Rb I a (1  k )
Principle of Rheostatic Brake Control (continued)

• The equivalent load resistance of the generator

Vb
Req   Rb (1  k )  Rm
Ia

• The power dissipated in the resistor Rb is

Pb  I Rb (1  k )
2
a
Example
A dc-dc converter is used in rheostatic braking of a dc separately excited motor as shown below. The armature
resistance is Ra = 0.05Ω. The braking resistor is Rb = 5Ω. The back emf constant is Kv = 1.527V/A rad/s. The average
armature current is maintained constant at Ia = 150A. The armature current is continuous and has negligible ripple. The
field current is If = 1.5A. If the duty cycle of the dc-dc converter is 40%, determine:
Example 15.9

Solution

I a  150 A
K v  1.527V / Arad / s
k  0.4
Rm  Ra  0.05

the average voltage across the dc-dc converter.

Vch  Vb  Rb I a (1  k )
Vch  (5)(150 A)(1  0.4)  450V

the power dissipated in the braking resistor

Pb  I a2 Rb (1  k )
Pb  (150 A) 2 (5)(1  0.4)  67.5kW

the equivalent resistance of the motor acting as a generator

Vb
Req   Rb (1  k )  Rm
Ia
Req  (5)(1  0.4)  0.05  3.05
the motor speed ω

Eg  K v I f 
Eg 457.5V
   199.74rad / s
Kv I f (1.527V / Arad / s )(1.5 A)
 30 
  199.74    1907.4rpm
 

the peak dc converter voltage

V p  I a Rb
V p  (150 A)(5)  750V
Combined Regenerative and
Rheostatic Brake Control
 Combined Regenerative and
Rheostatic Brake Control (continued)
• Used when the supply is
partly “receptive”
• Remove regenerative
braking if line voltage is
too high
– Turn thyristor TR on
– Divert current to RB
– Apply rheostatic braking
– TR is “self-commutated”
Two-Quadrant DC–DC Converter Drive
 Quadrant Operation Summary

Regenerative Braking Control Power Control

 Power Control

• Q1 and D2 operate
• Q1 ON, Vs applied to the
motor
• Q1 turned OFF, D2 “free-
wheels”
• Armature current
decays
 Regenerative Control

• Q2 and D1 operate
• Q2 turned ON, motor
acts as a generator, and
the armature current
rises
• Q2 turned OFF, motor
returns energy to the
supply via D1 “free-
wheeling”
Four Quadrant DC-DC Converter Drive
 Quadrant Operation Summary
Forward Regeneration Forward Power Control

Reverse Power Control Reverse Regeneration

 Forward Power Control

• Q1 and Q2 turned ON
• Supply voltage appears
across the motor
• Armature current rises
• Q1 and Q2 turned OFF
• Armature current decays
via D3 and D4
 Forward Regeneration

• Q1, Q2, and Q3 turned OFF

• Turn Q4 ON
• Armature current rises and
flows through Q4, D2
• Q4 turned OFF, motor acts
as a generator, returns
energy back to the supply
via D1, D2 ia reverses
 Reverse Power Control

• Q3 and Q4 turned ON
• Supply voltage appears in
the reverse direction
across the motor
• Armature current rises
and flows in the reverse ia
direction
• Q3 and Q4 turned OFF
• Armature current decays
via D1 and D2
 Reverse Regeneration

• Q1, Q3, Q4 turned OFF

• Q2 turned ON
• Armature current rises
through Q2 and D4
• Q2 turned OFF ia

• Armature current falls

and returns energy via D3
and D4
 References

G.K. Dubey, ‘Power semi-conductor controlled drives’, prentice hall of

india,1989.