EE533 – Machines & Drives

Chapter 3: Variable voltage fed DC

motors

Fall 2016 Dr. KHELDOUN A.

 Chapter 3: Variable voltage fed DC motor

Objectives

I. Introduction

II. Speed control techniques

III. Operation modes

IV. Variable voltage supply

V. Controlled Rectifiers

V.1. Single-phase dc drives

V.2. three-phase dc drives
V.3. Drawback of controlled rectifiers

VI. DC Choppers
 Chapter 3: Variable voltage fed DC motor

I. Introduction
From the Equivalent circuit of DC motor, the different techniques of speed control
can be derived

Ra La Lf Rf

+ Ia + +
If

Va ea Vf
wm
_ _ Tem _
TL

Armature circuit (rotor) Field circuit (stator)

di di f
va ea R a .i a La a vf R f .i f Lf
dt dt
ea K m . Kg m
If field circuit voltage is maintained constant
 Chapter 3: Variable voltage fed DC motor

I. Introduction

Motion equation is given by

d m If field circuit voltage is
Te J B m TL Where Tem K .ia . K g ia maintained constant
dt
In steady state operation, time-derivative terms are equal to zero

Vf Rf I f (1)

Ea Kb K (2)
m m

Va Ra I a Ea Ra I a K (3)

Tem Kg Ia K . .I a B m TL (4)

The developed power Pd Tem m

(5)
 Chapter 3: Variable voltage fed DC motor

II. Speed control techniques

From equation (2) and (3), one can write

Va Ra I a Va Ra Tem
K K K K
Va Ra
2
Tem
K K

From the above equation, three possible methods for speed control can be
derived

Armature resistance Ra control

Field flux control

Armature voltage Va control

 Chapter 3: Variable voltage fed DC motor

II. Speed control techniques

a) Armature resistance (Ra) control Shunt resistances are

Va Ra connected in series with Ra
m T
2 em
K K Simple control
Losses in external resistor
m
Va Ra Low efficiency
slope TL=Tem
K K
2
Rarely used.

Ra

Tem
 Chapter 3: Variable voltage fed DC motor

II. Speed control techniques

Armature voltage is
b) Field control maintained constant
Va Ra By weakening the field
m 2
Tem
K K flux, the speed is
m
increased

Normally employed for

TL
speed above base (rated)
speed

Reversing the speed is

Va achieved by reversing the
K Ra field voltage polarity
slope 2 (field current direction).
K
Varying flux is not
possible for PMDC
Tem
 Chapter 3: Variable voltage fed DC motor

II. Speed control techniques

c) Armature voltage control Field voltage is

Va Ra maintained constant
m 2
Tem
K K
Varying the armature
Va voltage changes the speed
m m
K Normally employed for
TL speed lower than base
Va Va speed
K Speed is controlled from
zero to rated value
slope Cst Limited speed by limited
voltage magnitude that
causes insulation damage
Tem
 Chapter 3: Variable voltage fed DC motor

II. Speed control techniques

d) Armature and field control Wide range of speed

control is obtained by
Constant Torque Constant power combining armature and
control control field controls
Tem
For speeds lower than
rated speed, armature
control is used (field
current is kept constant)

Above rated speed,

armature voltage is kept
constant and field
current is varied.
m

Va control Base speed control How the flux is varied

 Chapter 3: Variable voltage fed DC motor

II. Speed control techniques

m =0÷ base armature control (varying Va)

> base filed control (flux weakening, )

Tem K . .I a .I a For maximum torque capability, Ia = Ia max

When > base Pd Tem m K . .I a m

in order to go beyond base, (1/ )

Constant Torque Constant power

Tem control control

Pd ,max K. rated .I a ,max m ,rated Cst

Va control control
m
m, rated
 Chapter 3: Variable voltage fed DC motor

II. Speed control techniques

In field weakening region ( ), or field control region

Pd K . .I a ,max m Pd ,max K. rated .I a ,max m ,rated

in order to go beyond base

. .
rated .
rated m ,rated
m m ,rated
m

Constant Torque Constant power

Tem control control

1
rated
m

m
m, rated
 Chapter 3: Variable voltage fed DC motor

III. Operation modes

In the previous chapter, it has been shown that four (04) modes of
operations are possible

Q1: torque +ve and speed +ve (forward motoring)

Q2: torque -ve and speed +ve (forward breaking), dynamic and
regenerative breaking

Q3: torque -ve and speed -ve (reverse motoring)

Q4: torque +ve and speed -ve (reverse breaking)

Both torque and speed are related to electrical quantities as follows

Tem K . .I a sign Tem sign I a

Ea K. . m sign m sign E a
 Chapter 3: Variable voltage fed DC motor

III. Operation modes

Ia m Ia

Va< Ea + + + +
Va>Ea
Ea M Va Ea M Va

Q2 Q1
Tem
Q3 Q4
- - - -

Ea M Va Ea M Va

+ + + +

|Va|> |Ea| Ia |Va|< |Ea| Ia

 Chapter 3: Variable voltage fed DC motor

IV. Variable voltage supply

Speed Control is achieved by :

Armature voltage control for speeds below base speed

Field voltage control for speeds above base speed

Both control methods use power electronics converters to obtain variable

voltage (see next slide). Advantage of using theses converters :

Large voltage variation range

Almost without delay

Specifications of power electronic converters are set by voltage and current

requirements for four quadrants operation
 Chapter 3: Variable voltage fed DC motor

IV. Variable voltage supply

1 /3-phase
Power
supply

Field-
ia controller
rectifier’

controller
Armature-

rectifier
+
(a)
if
Va

DC +
supply

Field-
ia Chopper ’
Armature
Chopper

+ (b)
if
Va

Separately –excited DC motor adjustable speed drive: (a) ac-dc drive, (b) dc-dc drive
 Chapter 3: Variable voltage fed DC motor

IV. Variable voltage supply

From fixed AC utility system, variable voltage is obtained either by :

Converting a constant voltage to variable voltage in single stage using

Controlled Rectifiers

Or converting it to constant then to variable voltage in two stages using

respectively uncontrolled rectifiers and DC-DC converters
 Chapter 3: Rectifier and chopper supplied DC drives

IV. Variable voltage supply

Available AC source to control DC motor (brushed)

AC-DC AC-DC-DC

Uncontrolled Rectifier
Control Single-phase Control
Three-phase
Controlled Rectifier DC-DC Switched mode
1-quadrant
Single-phase drives
2-quadrant
Three-phase drives 4-quadrant
 Chapter 3: Rectifier and chopper supplied DC drives

V. Controlled rectifiers

1. Single-phase DC Drives ia

+
Two-quadrant drive
50Hz
For discontinuous current: Single- Va
Armature voltage (average value) phase

Vm
Va cos cos

where Vm = peak voltage

Armature current
Va Ea 2Vm
Ia
Ra
This results in more torque ripple and linearity
of output voltage wrt. reference voltage will be lost.
can be overcome by additional external inductor 90o 180o
 Chapter 3: Rectifier and chopper supplied DC drives

V. Controlled rectifiers

1. Single-phase DC Drives ia

+
Two-quadrant drive
50Hz
For continuous current: Single- Va
Armature voltage (average value) phase

2V m
Va cos
2 Vm
where Vm = peak voltage
Q4
Va Ea
Armature current Ia
Ra 90o 180o
Field voltage is kept constant Q1
2 Vm
 Chapter 3: Rectifier and chopper supplied DC drives

V. Controlled rectifiers

1. Single-phase DC Drives ia

+ +
Two-quadrant drive
50Hz
Single- Va Ea
For Quadrant 1 operation: phase

90

2V m
Va cos 0
2 Vm

positive Ea and Va positive

Q1
Ia positive
90o 180o
Rectifier delivers power to motor,
i.e. forward motoring. 2 Vm
 Chapter 3: Rectifier and chopper supplied DC drives

V. Controlled rectifiers
ia
1. Single-phase DC Drives
- -
50Hz
Two-quadrant drive Single-
phase
Va Ea
For Quadrant 4 operation:
+ +
> 90

2V m
Va cos 0 2 Vm

Q4
negative Ea negative

Ia positive (can’t change direction) 90o 180o

Rectifier takes power from motor,
2 Vm
i.e. regenerative braking.

Transfer characteristic of the converter

 Chapter 3: Rectifier and chopper supplied DC drives

V. Controlled rectifiers

1. Single-phase DC Drives
m(Va)
o Four-quadrant drive
Converter 1 for operation in 1st and 4th quadrant Q2
Q2 Q1
Q1
Converter 2 for operation in 2nd and 3rd quadrant Q3
Q3 Q4
Q4 Te(Ia)
Limited to applications up to 15 kW

Single-phase supply
Dual single phase-controlled
ia
converters for four quadrant +
operation: Two rectifiers
Va
connected in anti-parallel across
motor armature

Converter 1 Converter 2
 Chapter 3: Rectifier and chopper supplied DC drives

V. Controlled rectifiers
+
1. Single-phase DC Drives
V1 V2
o Four-quadrant drive
+

Main bridge Regen. bridge

The main bridge drives the motor with an angle 1

When the motor is required to stop quickly, the motoring bridge shuts off and the

regen. bridge turns on.

The control logic is gating SCRs in the regen. bridge at an angle of 2 so that

1 2 180
 Chapter 3: Rectifier and chopper supplied DC drives

V. Controlled rectifiers

1. Single-phase DC Drives
o Four-quadrant drive
A four-quadrant drive can easily reverse the direction of rotation of a DC motor
simply by applying armature voltage in the opposite polarity. This is accomplished
by using what was the regen bridge to motor. The bridge that was used to drive the
motor in the forward direction becomes the regen bridge.

V1 V2

Converter 1 Converter 2
 Chapter 3: Rectifier and chopper supplied DC drives

V. Controlled rectifiers

2. Three-phase DC Drives 500

Ia

voltage
0
3V L L ,m
+ Va cos -500

0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44

50Hz
three- Average voltage 30
Va over 3.33 ms
phase

Current
20

10
Va Ea
Ia 0

Ra 0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44

Two-quadrant drive
Va ( m)
Limited to applications up to 150 kW

Regeneration (Q4) only be achieved Q2 Q1

with loads that can drive the motor Q3 Q4 Ia (Te)

in reverse (-ve m)
 Chapter 3: Rectifier and chopper supplied DC drives

V. Controlled rectifiers
ia
2. Three-phase DC Drives
+
Two-quadrant drive 50Hz
three- Va
For continuous current: phase
Armature voltage (average value)

3V L - L, m
Va cos
3VL -L, m

where VL-L, m = peak line-to-line voltage Q4

Armature current Va Ea
Ia 90o 180o
Ra
Q1
Field voltage is kept constant 3VL -L, m
 Chapter 3: Rectifier and chopper supplied DC drives

V. Controlled rectifiers

2. Three-phase DC Drives

o Four-quadrant drive
Converter 1 for operation in 1st and 4th quadrant
Converter 2 for operation in 2nd and 3rd quadrant

90 a1 180 0 a1 90
m
a1 a2 a2 a1 Ia +ve, Ia -ve,
Va +ve or -ve Va +ve or -ve
Converter 2: Converter 1:
Ia -ve, Va -v Ia +ve, Va -ve
+
Te
V1 V2
Converter 2: Converter 1:
Ia -ve, Va -ve Ia +ve, Va -ve +
0 a2 90 90 a1 180
Converter 1 Converter 2
a1 a2 a2 a1
 Chapter 3: Rectifier and chopper supplied DC drives

V. Controlled rectifiers
2. Three-phase DC Drives
o Four-quadrant drive
One controlled rectifier with 2 pairs of contactors
F1 and F2 closed for operation in 1st and 4th quadrant
R1 and R2 closed for operation in 2nd and 3rd quadrant

F1 R1
+
3-phase
supply
V1 V2
+ Va -
+
R2 F2
Converter 1 Converter 2
 Chapter 3: Rectifier and chopper supplied DC drives

V. Controlled rectifiers
1. 3. Drawbacks of using controlled rectifiers
Controlled rectifier introduces harmonics to supply currents and voltages which cause:
heating and torque pulsations in motor
motor derating
Low supply power factor
More harmonics in the primary current (contribute to pollute the network)
Some solutions for the above issues
install LC filters at input of converters to eliminate most dominant harmonics (i.e.
5th and 7th harmonics)
Employ pulse-width modulated (PWM) rectifiers using GTOs, IGBTs to
improve power factor, overcome the effect of low order harmonics and
subsequently reduce pulsations and derating.
 Chapter 3: Rectifier and chopper supplied DC drives

VI. DC choppers

Two schemes of DC choppers can be implemented according to available DC

source
AC-DC-DC
AC-DC

Uncontrolled Rectifier
Battery Single-phase
Or PV Generator Three-phase
Control Control
DC-DC Switched mode
1-quadrant
2-quadrant
4-quadrant
 Chapter 3: Rectifier and chopper supplied DC drives

VI. DC choppers

1. Principle of operation of a chopper

S Ia
• The chopper is on for a time ton
and off for a time toff. The switching
frequency is given by: Ra

Va

Load
1 1 La
fc Vs D
t on t off T
• Its duty cycle is defined as: Ea

t on
d
T
 Chapter 3: Rectifier and chopper supplied DC drives

VI. DC choppers

1. Principle of operation of a chopper

Vs
Assuming that the switch is ideal, the
average voltage across the load is given
t
by :
Vs
1T t on
Va v a dt Vs va Va
T0 T
t
By keeping, the source voltage and
ton
switching frequency constant, the
load voltage will be function of “d” T

Va d .V s
 Chapter 3: Rectifier and chopper supplied DC drives

VI. DC choppers
2. First-quadrant operation (motoring mode)

Provides positive output voltage and current. Average power flows from source
to motor (motor takes power from source). Suitable chopper configuration is
below
S Ia
Switch (S) turns on and off
periodically with period T

Ra
m(Va)

La Va
V D Q2 Q1
Q1

Q3 Q4 T (I )
e a
Ea
 Chapter 3: Rectifier and chopper supplied DC drives

VI. DC choppers

2. First-quadrant operation (motoring mode)

S is ON (0 t ton) S if OFF (ton < t T)

•va = Vs •va = 0
•ia flows to motor •ia freewheels through diode DF
•ia increases •ia decreases

ia ia Ra
Ra
ID La Va
Vs La Va

Ea
Ea

dia dia
Ra i a La Ea Vs ....( 1 ) Ra i a La Ea 0.....( 2 )
dt dt
 Chapter 3: Rectifier and chopper supplied DC drives

VI. DC choppers

2. First-quadrant operation (motoring mode)

Under steady-state conditions: Vs

Va
va
Motor side: Va Ra I a Ea
t
Chopper side, average armature 0 ia2
ia Ia
voltage: Va d .V s ia1
t
Therefore, dV s Ra I a kg m 0 dT T dT T

Hence, average armature current:

dV s kg m
k g dV s kg m
Ia and average torque : Tem
Ra Ra
 Chapter 3: Rectifier and chopper supplied DC drives

VI. DC choppers
3. Second-quadrant operation (regenerating braking mode)
m(Va)
Provides positive output voltage and negative average
Q2
Q2 Q1
output current. Average power flows from load (motor) to
source. Suitable chopper configuration is below Q3 Te(Ia)

• Application: Suppose the motor was

driving a load in the first quadrant Ia
D
Ra
(positive torque and positive speed)
•Then its receives a brake command, the S
Vs La Va
torque and current must go negative
(speed direction is maintained) . Ea

Switch (S) turns on and off periodically ( T)

 Chapter 3: Rectifier and chopper supplied DC drives

VI. DC choppers

3. Second-quadrant operation (regenerating braking mode)

S is ON (0 t ton) diode is reverse biased (off)

Va = 0 (diode blocks V)
Ia
Mechanical energy due to inertia converted to
Ra electrical (i.e. generator)

A tiny part of this energy is dissipated in Ra

Va La
and S (real switch)
Ea Remaining electric energy stored in La

ia increases due to E (since E > Va)

di a
Ra i a La E a .....( 3 )
dt
 Chapter 3: Rectifier and chopper supplied DC drives

VI. DC choppers

3. Second-quadrant operation (regenerating braking mode)

S is Off (ton t T) diode is forward biased (ON)

ia flows through diode D and source V

Ia
Energy stored in La & energy supplied by
Ra motor are fed to the source
Ra
ia decreases in negative direction

Vs Va La

Ea
dia
Ra i a La Vs E a .........( 4 )
dt
 Chapter 3: Rectifier and chopper supplied DC drives

VI. DC choppers

2. Second-quadrant operation (regenerative braking mode)

Under steady-state conditions: Va

va
Generator side: Ea Ra I a Va Va
t
Chopper side, average armature 0
t
-ia1
voltage: Va 1 d .V s ia Ia
- ia2
Therefore, 1 d Vs Ra I a kg m dT T

Hence, average armature current:

kg m 1 d Vs
Ia
Ra
 Chapter 3: Rectifier and chopper supplied DC drives

VI. DC choppers m(Va)

3. Two-quadrant control Q2
Q2 Q1
Combination of the previous two schemes Q3 Q4 Te(Ia)
Forward motoring Q1 - T1 and D2
Forward braking Q2 – T2 and D1

ia ia
T1 D1
D +
S Ra ia
Ra Vs

Vs La Vs La Va
D Ea
T2 D2 Va
Ea Ea

• Va always +ve always +ve

• Ia can be +ve or –ve
• Prevent firing both switches together short circuit at supply
 Chapter 3: Rectifier and chopper supplied DC drives

VI. DC choppers

4. Four-quadrant control

Operation of dc motor in all four quadrants requires that

Va and Ia can be controlled in magnitude and polarity
Power flow can be in either direction
Therefore motor peed and torque can be reversed

m(Va)
T1 D1 T3 D3
+ ia
Vs Ra La Q2 Q1
ea
Va Q3 Q4
Q4 Te(Ia)
T4 D4 T2 D2

Four-quadrant chopper circuit Four-quadrant operation : m(Va) wst. Te(Ia)

 Chapter 3: Rectifier and chopper supplied DC drives

VI. DC choppers
4.Four -quadrant control
1st quadrant operation :Va>0 and Ia>0 m(Va)

T1 and T2 are ON means that va=Vs and ia is increasing Q2 Q1

If T1 is OFF
Q3 Q4
Q4 Te(Ia)
T2 and D4 are ON means that va=0 and ia is decreasing
If T2 is OFF
T1 and D3 are ON means that va=0 and ia is decreasing

T1
+
Vs ia Ra La ia
ea T1 D3
+ -
ia Ra La
Va
T2 - + ea
ia
Va

va=Vs va=0
 Chapter 3: Rectifier and chopper supplied DC drives

VI. DC choppers
4. Four - quadrant control
2nd quadrant operation :Va> 0 and Ia< 0
A positive Emf is assumed (Ea>0) - forward braking
To send energy to the dc-source, current must be directed from armature to
source (forward braking). Opening T1 and T2 will allow D3 and D4 to reduce
current to zero rapidly.
To establish negative current, turn on T4 (this makes D2 ON) va = 0 and ia
Then turn off T4 to connect the motor to source through D1 and D2 va = Vs,
ia

ia D1
Ra La + ia
ea Vs Ra La
+ ea
- + -
T4 Va
D2 Va
ia D2
ia
va =0
va = Vs
 Chapter 3: Rectifier and chopper supplied DC drives

VI. DC choppers
4. Four -quadrant control
3rd quadrant operation :Va< 0 and Ia< 0
m(Va)
A negative Emf is assumed (Ea<0)
Q2 Q1
T3 and T4 are ON va = -Vs and ia
Q3 Q4 Te(Ia)
T3 or T4 is OFF , va = 0 ia Q4

Suppose that T4 is OFF D1 is ON

If T3 is OFF then D2 is ON

Ra La
ea
ia T3 va = 0 ia
+ T4 D2
Vs Ra La - ia
ea +
va = -Vs ia
T4

va = -Vs va = 0
 Chapter 3: Rectifier and chopper supplied DC drives

VI. DC choppers
4.Four -quadrant control
4th quadrant operation :Va<0 and Ia>0
If emf is negative (Ea<0) – reverse braking
T1 or T2 is ON at given time
This switch is OFF now but as the current must continue to flow in the same
direction till total depletion (decreasing) therefore:
D3 and D4 are ON (power from motor to source), to continue feeding this power
to source either T2 must be ON (periodically) making D4 ON or T1 must be ON
making D3 ON as shown below

ia D3
ia + ia
T1 D3 Vs Ra La - +
ea
ia Ra La
ea Va
D4
Va
va = 0 va = -Vs
 Chapter 3: Rectifier and chopper supplied DC drives

VI. DC choppers

5. Continuous Current Conduction (mode)

Discontinuous current conduction affects the performance of the Dc drive. In
phase controlled dc drives, light loads and low armature inductance are the main
factors which cause discontinuity in the armature current. In dc choppers, what
does affect current conduction?

ia Ra Ra
ia
La La
Vs Va ID Va
Ea Ea

dia dia
Ra i a La Ea Vs ....( 1 ) Ra i a La Ea 0.....( 2 )
dt dt
0 t dT dT t T

Equs. (1) and (2) are the relevant electrical equations that describe the behavior
of the motor during ON and OFF times
 Chapter 3: Rectifier and chopper supplied DC drives

VI. DC choppers

5. Continuous Current Conduction (mode)

di a
Solution of Eq.(1) R a ia La Ea V s ....( 1 )
dt
0 t dT
t
Vs Ea
is ia Ae at t=0, ia=ia0 (minimum value), therefore
Ra
t t
Vs Ea
ia 1 e I a0 e
Ra

Where =La/Ra

dia
Solution of Eq.(2) Ra i a La Ea 0.....( 2 )
dt
dT t T
'
t1
Ea
is ia Ae where t1=t-dT
Ra
 Chapter 3: Rectifier and chopper supplied DC drives

VI. DC choppers

5. Continuous Current Conduction (mode)

Initial conditions at t1=0, ia =ia1 (maximum value). Final solution is

t 1' t 1'
Ea
ia 1 e ia1 e
Ra

Knowing that ia(dT)=ia1 and ia(T) =ia0, the minimum and maximum values of
ia can be found as follows
dT
1 e
'
T dT T dT' Vs Ea
Ea ia 1 T '

ia0 1 e ia1e Ra Ra
Ra 1 e

'
dT
dT dT e 1
Vs Ea Vs Ea
ia 1 1 e I a0 e ia 0
Ra Ra T
Ra
e 1
 Chapter 3: Rectifier and chopper supplied DC drives

VI. DC choppers

5. Continuous Current Conduction (mode)

Continuous current conduction implies that the minimum armature current is

greater than zero
'
dT

e 1
Vs Ea
ia0 T
0
Ra Ra
e 1

Solving the above inequality for d results in the critical duty cycle

T
Ea
dc log e 1 1
T Vs

Duty cycle lower than dc will produce discontinuous current in the motor. Note
that
Ea
dc f ,
T Vs
 Chapter 3: Rectifier and chopper supplied DC drives

VI. DC choppers

6. PWM control of choppers

1. Bipolar switching scheme: output alternates between VDC and -VDC

vc

+
Vs
+ +
vA vB Vdc
Carrier signal vA
- - 0

Vdc
vc vB
0
+ 1
Vdc
_ 0
vAB
Control signal -Vdc

vAB=vA-vB
 Chapter 3: Rectifier and chopper supplied DC drives

VI. DC choppers

6. PWM control of choppers

1. Bipolar switching scheme: output alternates between VDC and -VDC

vc

+
Vs Vdc
+ + 0
vA vB
Carrier signal vA
- - Vdc
0
vc vB
Vdc
+ 1

_ 0 -Vdc
vAB
Control signal vAB=vA-vB
 Chapter 3: Rectifier and chopper supplied DC drives

VI. DC choppers
6. PWM control of choppers
2. Unipolar switching scheme – output varies between Vdc and -Vdc

vc
Vtri
+ -vc
Vs
+ +
vA vB
Vdc
- - vA
0

vc
Vdc
+ 1
vB
0 0
_
Vdc
vAB
0
_
1

+ 0
-vc