FEE 607: LECTURE 9 - DC MOTOR DRIVES

Introduction
An electric motor is a device that converts electrical energy into mechanical energy. The system in which
a motor is located and makes it spin is called the electric drive or motor drive. The motor drive draws
electrical energy from the source and supplies it to the motor, such that the desired mechanical output is
achieved. Fig. 1 shows the block diagram of a motor drive.

Fig. 1. Block diagram of a motor drive system

The power converter circuit converts electrical energy to the desired form. The controller issues signals to
the converter depending on the sensor reading. The motor together with its control equipment and
mechanical load constitutes an electric drive system. Examples of electric drive systems are: a food mixer
with food to be processed, a motor and conveyer belt with material on its belt etc.

Electric drives are mainly of two types: DC drives and AC drives. The two types differ from each other in
that the motive power in DC and AC drives is provided by DC motors and AC motors respectively. Speed
control methods for DC motors are simpler and less expensive than those for AC motors, thus DC drives
are preferred for wide speed control range.

Review of DC motor theory

A DC motor consists of two main parts, the stator and the rotor as shown in Fig. 2. There are two main
types of DC motors: separately excited DC motors and self-excited DC motors (shunt, series and
compound).

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 Fig. 2: DC Machine construction
The circuit connection diagrams of these types of DC motors are shown in Fig. 3

Fig. 3: (a) separately exited motor (b) series motor (c) shunt motor (d) compound motor

Separately excited DC motor

In a separately excited DC motor, the field circuit is supplied separately from the armature circuit. The
equivalent circuit of a separately excited DC motor coupled with a load is shown in Fig. 4.

Fig. 4: Separately excited DC motor

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When a DC motor is excited by a field current of i f and an armature current of i a flows in the armature
circuit, the motor develops a torque to balance the load torque at a particular speed. The motor also
develops a back emf due to its rotation in the presence of a field flux. Under steady state conditions, for
field circuit:
V f =I f r f (1)
For armature circuit:
V t =Ea + I a r a (2)
The motor back emf ( E a) is proportional to the flux and speed of rotation:
E a=K a ∅ ω m=K m ω m (3)
where
 V t - motor terminal voltage, V
 I a - armature current, A
 r a - armature circuit resistance, Ω
 r f - field circuit resistance, Ω
 ω m - motor speed in rad/s
 K m =K a ∅ is the torque constant, Nm/A or V.sec/rad
The torque developed by the motor is proportional to the armature current and field flux:
T e =K a ∅ i a=K m i a (4)
The mechanical power developed is
Pm=T e ωm (5)
Using (2), we re-write (3) as:
E a=K m ωm =V t −I a r a (6)
(6) gives the speed of a SEDC motor as
V t −I a Ra V t −I a Ra
ω m= = (7)
Km Ka ∅
From (7), it is observed that the motor speed can be varied by:
i) Controlling armature terminal voltage V t - known as the armature voltage control
ii) Controlling field flux ∅ - known as field flux control.

DC series motor
If the field of a DC motor is connected in series with the armature circuit, as shown in Fig. 5, the field
winding carries rated armature current.

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 Fig. 5: DC series motor
For the armature circuit, the steady state quantities are:
V t =Ea + I a ( r a +r s ) (1)
T e =K a ∅ I a (2)
And, ∅ =K f I a
2 2
T e =K a K f I a =k I a (3)
Also
E a=K a ∅ ω m=K a K f I a ωm =k I a ωm (4)
Substituting (4) into (1),
V t =k I a ωm + I a ( r a +r s) (5)
Thus the speed of a DC series motor is given by:
V t −I a ( r a+ r s )
ω m= (6)
k Ia
Where
 r s = series field resistance, Ω
 k =K a K f , a constant in Nm/A2 or in V-s/A rad.

Single-phase DC drives
To control the speed of a DC motor, we either adjust the armature supply voltage V t or the field supply
voltage V f . Controlled rectifiers provide a variable DC output voltage from an AC supply voltage,
whereas choppers can provide a variable DC voltage from a fixed DC voltage. For motors up to a few
kilowatts, the armature circuit can be supplied from either single-phase or three-phase mains, but for
larger motors, three-phase is always used. In a SEDC motor, a separate rectifier is used to supply the field
of the motor. A general circuit for the speed control of a SEDC motor from a single phase AC source is
shown in Fig. 6.

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 Fig. 6: Separately excited DC motor control
The control of firing angle α 1 of converter 1 regulates the armature voltage supplied to the DC motor. The
variation of firing angle α 2 of converter 2 controls the field current. Inductor L is usually installed in
series with the armature circuit to reduce the ripple in the armature current.

Single phase half wave converter drive

A SEDC motor, fed through a single phase half wave converter, whose field circuit is supplied through a
single phase semi-controlled converter is shown in Fig. 7.

Fig. 7: Single phase half wave converter drive

The waveforms for source voltage, armature terminal voltage, armature current, source current and
freewheeling diode current are sketched in Fig. 8.

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 Fig. 8: Waveforms
For the single phase half wave converter in the armature circuit, the average output voltage
π
1 Vm
V o , av =V t = ∫ V m sin ωt dωt=
π
[−cos ωt ] α
2π α 1
2π 1

Vm Vm
¿
2π
[−cos π +cos α 1 ]=
2π
( 1+cos α 1 )
For the single phase semi-controlled converter in the field circuit, the average output voltage
π
2 Vm
∫
π
Vf= V m sin ωt dωt= [−cos ωt ] α
2π α2
π 2

Vm Vm
¿
π
[−cos π + cos α 2 ]=
π
( 1+cos α 2 )
Example
The SEDC motor shown in Fig. 7 is supplied from 230V, 50Hz source through a single phase half wave
controlled converter. Its field is fed through a single phase semi-controlled converter with a zero degree
firing angle delay. Motor resistance r a =0.7 Ω and motor constant ¿ 0.5 Nm/rad . For rated load torque of
15Nm at 1000rpm and continuous ripple free current, determine the firing angle of the armature
converter.
Solution
The terminal voltage for the single phase half wave converter,
π
1 Vm
V t = ∫ V m sin ωt dωt= ( 1+cos α 1 )=E a + I a r a
2π α 1
2π
Motor back emf, E a=K m ωm
2 π x 1000
E a=0.5 x =52.36 V
60
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Motor torque, T e =K m i a
T e 15
Armature current i a= = =30 A
K m 0.5
230 √ 2
V t= ( 1+ cos α 1 )=52.36+30 x 0.7=73.36 V
2π

α 1=cos−1
[ 73.36 x 2 π
230 √ 2 ]
−1 =65.3360

Single phase full converter drives

Two full converters, one feeding the armature circuit and another one feeding the field circuit of a
separately excited DC motor are shown in Fig. 9.

Fig. 9: Single phase full converter drives

The waveforms for the armature circuit are given in Fig. 10.

Fig. 10: Waveforms

For the armature circuit converter 1,

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 π + α1
2 Vm
V o =V t=
2π
∫ V m sin ωt dωt= π
[−cos ωt ] πα +α1
1

α1

Vm 2V m
¿ [−cos ( π + α 1 ) + cos(α 1 )]= cos α 1
π π
For the field circuit converter 2,
π +α 2
2 Vm
Vf=
2π
∫ V m sin ωt dωt=
π
[ −cos ωt ]απ +α
2
2

α2

Vm 2V m
¿ [−cos ( π + α 2) + cos(α 2 )]= cos α 2
π π
Example
The 220V, 1500rpm, 10A SEDC motor shown in Fig. 9 has an armature resistance of 1Ω. It is fed from a
single phase fully controlled bridge rectifier with an AC source voltage of 230V, 50Hz. Assuming
continuous load current, compute
i) Motor speed at the firing angle of 300 and torque of 5Nm
ii) Developed torque at the firing angle of 45 0 and speed of 1000rpm.
Solution
Under rated operating conditions of the SEDC motor,
V t =Ea + I a r a=K m ω m + I a r a
2 π x 1500
220=K m +10 x 1=50. π . K m +10
60
220−10
Km= =1.337 V . s /rad∨1.337 Nm / A
50 π
i) For α =30 0 and a torque of 5Nm,
Te 5
I a= = =3.74 A
K m 1.337
Using
V o =V t= Ea + I a r a
π+α
2 2Vm
V o =V t=
2π
∫ V m sin ωt dωt= π
cos α =K m ωm + I a r a
α

2 √ 2 x 230
V o =V t= cos 30=1.337 ω m +3.74 x 1
π
179.3−3.74 2 πN
ω m= =131.31 .rad /sec ¿
1.337 60
131.31 x 60
N= =1253.92 rpm
2π
ii) For α =450 and N=1000 rpm we obtain I a,

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 2Vm
V o =V t= cos α =K m ωm + I a r a
π
2 √ 2 x 230 2 πx 1000
V o =V t= cos 45=1.337 x +Ia x 1
π 60
6.39
I a= =6.39 A
1
Torque developed
T e =K m I a =1.337 x 6.39=8.543 Nm
Example
A three-phase full converter, shown in Fig. 11, is used to control the speed of a separately excited DC
motor rated at 100kW, 600V, 2000 rpm. The converter is connected to a 3-phase 400V, 50Hz supply. The
armature resistance Ra = 0.051Ω and the armature circuit inductance is La = 10 mH. The motor voltage
constant is K e Φ = 0.25 V/rpm. The rated armature current is 100A and the no load current is 10A.
Assuming the motor current is continuous and ripple-free, determine:
a) The no load speed when the firing angles: α= 0⁰ and α= 60⁰
b) The firing angle to obtain the rated speed of 2000 rpm at rated motor current.

Fig. 11: Three phase full converter

Solution
a) No load condition
400 √2
V m= =325.22 V
√3
The converter output voltage¿ V dc =¿ armature voltage V T
π
+α
2

V dc =V T =
6
2π
∫ √3 V m sin ( ωt + π6 )dωt
π
+α
6

3 √3 V m
V dc =V T = cos α=538 cos α
π
0
For α =0 V T =538 V

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 E a=V T −I a Ra =538 – 10 x 0.051=537.5V

No load speed ( N 0 ):
Since E a=K e ∅ N ,
Ea 537.5
N 0= = =2145 rpm
K e ∅ 0.25
For α =60⁰
V T =538 cos 60⁰=269 V
E a=V T −I a Ra =269 – 10 x 0.051=268.4 V
Ea 268.41
N 0= = =1073.64 rpm
Ke ∅ 0.25
b) At full load condition
E a=K e ∅ N =0.25 x 2000=500 V
V T =Ea + I a R a=500+100 x 0.051=505 V
505=538 cosα
Hence α =20.14⁰

Power factor improvement

The power factor of phase controlled converters depend on the firing angle α , and is generally low. These
converters also generate harmonics into the supply. Forced commutation can be applied to improve the
input power factor and reduce harmonics. The basic techniques of forced commutation for power factor
improvement are classified as:
1. Extinction angle control
2. Symmetrical angle control
3. Pulse width modulation
Extinction angle control
Fig. 12 shows a single phase semi-converter, in which two thyristors are replaced by switches S 1 and S2.

Fig. 12: Extinction angle control

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S1 and S2 are GTOs which can be turned on by applying a positive gate pulse and turned off by applying a
negative gate pulse. S1 is turned on at ωt=0, and turned off by forced commutation at ωt=π −β . S2 is
turned on at ωt=π , and turned off at ωt=(2 π −β) . The output voltage is controlled by varying the
extinction angle β . Fig. 13 shows the waveforms for input voltage, input current and current through
thyristor switches.

Fig. 13: Waveforms

The fundamental component of input current leads the input voltage, hence the power factor is leading.
The performance of semi- and full converters with extinction angle control are similar to that with phase
angle control, except the power factor is leading.

Symmetrical angle control

Fig. 14 shows a single phase semi-converter with forced commutated switches S 1 and S2.

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 Fig. 14: Symmetrical angle control
S1 is turned on at ωt=(π−β )/2, and turned off at ωt=(π + β)/2 . S2 is turned on at ωt=(3 π−β )/2 and
off at ωt=(3 π + β)/2. The output voltage is controlled by varying conduction angle β . Fig. 15 shows the
waveforms for input voltage, output voltage, input current and the current through switches. The
fundamental component of input current is in phase with the input voltage and the power factor is unity.

Fig. 15: Waveforms

Pulse width modulation (PWM) control
In pulse width modulation control, the converter switches are turned on and off several times during each
half cycle and the output voltage is controlled by varying the width of pulses. Fig. 16 shows the
waveforms.

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 Fig. 16: Pulse width modulation control
The output voltage and performance parameters of the converter can be determined by combining the
effects of all pulses. If the mth pulse starts at ωt=α m and its width is δ m, the average output voltage due
to p number of pulses is found from

[ ]
p α m+ δ m
2 Vm p
V dc = ∑ ∫ V m sin ωt d ( ωt ) = ∑ [ cos α m−cos ( α m+ δm ) ]
m=1 2π αm π m=1
If the load current with an average value of I a is continuous and has negligible ripple, the instantaneous
input current can be expressed in a Fourier series and analyzed.

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