DC DRIVES

• DC DRIVES: Electric drives that use DC motors

as the prime movers
• DC motor: industry workhorse for decades
• Dominates variable speed applications before
PE converters were introduced
 DC Motors

• Advantage: simple torque and speed control

without sophisticated electronics

• Limitations:
• Regular Maintenance • Expensive motor
• Heavy motor • Sparking
General Torque Equation

dω T : Torque (Nm)
T=J J : Moment of Inertia (Kgm2 )
dt ω : angular velocity ( rad/s )
Torque Equation: Motor drives
dω dω
Te = TL + J or Te − TL = J
dt dt
Te : motor torque (Nm) TL : Load torque (Nm)

Te − TL > 0 Acceleration

Te − TL < 0 Deceleration

Te − TL = 0 Constant speed
…continue

Drive accelerates or decelerates depending

on whether Te is greater or less than TL

During acceleration, motor must supply not only

the load torque but also dynamic torque, ( Jdω/dt ).

During deceleration, the dynamic torque, ( Jdω/dt ), has

a negative sign. Therefore, it assists the motor
torque, Te.
 Torque Equation: Graphical
Te

Speed

Forward Forward Reverse Reverse Reverse Forward

running braking acc. running braking acc.
 Load Torque

Load torque, TL, is complex, depending on applications.

In general:

TORQUE
TL = k

TL = kω
TL = kω2

SPEED
 4Q OPERATION
F: FORWARD R: REVERSE M : MOTORING B: BRAKING
SPEED
Te ω Te ω

FB II I FM
TORQUE
III IV RB
Te ω Te ω
RM
 DC MOTOR DRIVES
Principle of operation

Torque-speed characteristic
Methods of speed control
Armature voltage control
Variable voltage source
Phase-controlled Rectifier
Switch-mode converter (Chopper)
1Q-Converter
2Q-Converter
4Q-Converter
Equivalent circuit of DC motor
Ra La Lf Rf

ia +
+ if +

Vt ea Vf

_ _ _

di di f
v t = R a ia + L a + ea v f = R f if + L
dt dt

Te = k t φ i a Electromagnetic torque

e a = k E φω Armature back e.m.f.

Torque-speed characteristics
Armature circuit:
dia
Va = Ra ia + L + ea
dt
In steady state,
Va = Ra I a + Ea

Therefore speed is given by,

Ra Va
ω=− T +
2 e
(kT φ ) kT φ
Three possible methods of speed control:

Armature resistance Ra
Field flux Φ
Armature voltage Va
Torque-speed characteristics of DC motor
Speed

No load speed

Full load speed Maximum

load
Torque

Torque
Separately excited DC motors have good
speed regulation.
 DC Motor Speed Control
By Changing Ra
Speed

Ra increasing
Maximum
Torque

Torque
• Power loss in Ra
• Does not maintain maximum torque capability
• Poor speed regulation
 DC Motor Speed Control
By Decreasing Flux
Speed

Flux Decreasing Maximum

Torque

Torque
Trated

• Slow transient response

• Does not maintain maximum torque capability
 DC Motor Speed Control
Speed By Changing Armature voltage

Va increasing

Maximum
Torque

Torque
Trated
• good speed regulation
• maintain maximum torque capability
Speed control of DC Motors
Below base speed: Armature voltage control (retain maximum
torque capability)
Above base speed: Field weakening (i.e. flux reduced) (Trading-off torque
capability for speed)

Torque Armature voltage control

Field flux control

Line of
Maximum
Torque Limitation

ωbase speed
Power Electronic Converters in DC Drive Systems

DC Drives

AC Source DC Source

DC-AC-DC DC-DC

AC-DC AC-DC-DC
DC DRIVES

Available AC source to control DC motor (brushed)

AC-DC AC-DC-DC

Uncontrolled Rectifier
Single-phase Control
Control
Three-phase
Controlled Rectifier DC-DC Switched mode
Single-phase 1-quadrant, 2-quadrant
Three-phase 4-quadrant
 DC DRIVES
AC-DC
400

200

+ 2 Vm -200

Vo = cos α -400
π 0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44

50Hz Vo 10

1-phase Average voltage

5

− over 10ms
0
0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44

500

50Hz
+ -500
3-phase 0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44
3VL − L , m
Vo Vo = cos α 30
π
20

− Average voltage
10
over 3.33 ms
0
0.4 0.405 0.41 0.415 0.42 0.425 0.43 0.435 0.44
 DC DRIVES
AC-DC
2 Vm
π

+ 2 Vm
Vo = cos α
π
50Hz Vo 90o 180o
1-phase Average voltage
− over 10ms
2 Vm
−
π

3VL − L ,m
π
50Hz
+
3-phase
3VL − L , m
Vo Vo = cos α
π 90o 180o

− Average voltage
over 3.33 ms 3VL − L , m
−
π
Methods of Armature Voltage Control

1. Ward-Leonard Scheme
2. Phase-controlled rectifier (AC–DC)
3. Switch-Mode Converter (Chopper) (DC–DC)
DC DRIVES
AC-DC

ia

+
Vt
3-phase
Vt Q2 Q1
supply

− Q3 Q4 Ia

- Operation in quadrant 1 and 4 only

 Phase-controlled rectifier: 4Q Operation
DC DRIVES
AC-DC

+
3-
phase 3-phase
Vt supply
supply
−

Q2 Q1

Q3 Q4
T
AN ALTERNATIVE WAY

Phase-controlled rectifier : 4Q Operation

F1 R1

3-phase
supply
+ Va -
R2 F2

Q2 Q1

Q3 Q4
T
 DC DRIVES
AC-DC

Cascade control structure with armature reversal (4-quadrant):

iD

ωref + iD,ref + Current Firing

Speed
controller Controller Circuit
_
_

iD,ref
Armature
iD, reversal
DC DRIVES
AC-DC-DC

Uncontrolled control
rectifier
Switch Mode DC-DC
1-Quadrant
2-Quadrant
4-Quadrant
DC DRIVES
AC-DC-DC

control
DC DRIVES
AC-DC-DC DC-DC: Two-quadrant Converter

T1 ω

+ Q2 Q1
Vt Q3 Q4 T
-
DC DRIVES
AC-DC-DC DC-DC: Two-quadrant Converter

Va
T1 D1
+
ia
Vdc Q2 Q1

+ Ia
− T2 D2
Va

T1 conducts → va = Vdc
 DC DRIVES
AC-DC-DC DC-DC: Two-quadrant Converter

Va
+ T1 D1
ia
Vdc Q2 Q1

+ Ia
− T2 D2
Va

D2 conducts → va = 0 T1 conducts → va = Vdc

Va Eb

Quadrant 1 The average voltage is made larger than the back emf
DC DRIVES
AC-DC-DC DC-DC: Two-quadrant Converter

Va
+ T1 D1
ia
Vdc Q2 Q1

+ Ia
− T2 D2
Va

D1 conducts → va = Vdc
 DC DRIVES
AC-DC-DC DC-DC: Two-quadrant Converter

Va
+ T1 D1
ia
Vdc Q2 Q1

+ Ia
− T2 D2
Va

T2 conducts → va = 0 D1 conducts → va = Vdc

Va Eb

Quadrant 2 The average voltage is made smallerr than the back emf, thus
forcing the current to flow in the reverse direction
DC DRIVES
AC-DC-DC DC-DC: Two-quadrant Converter

vc
2vtri

+
vA Vdc
-

+
vc
 DC DRIVES
AC-DC-DC DC-DC: Four-quadrant Converter
leg A leg B

+ D1 D3
Q1 Q3
+ Va −
Vdc

− D4 D2
Q4 Q2

Positive current

va = Vdc when Q1 and Q2 are ON

 DC DRIVES
AC-DC-DC DC-DC: Four-quadrant Converter
leg A leg B

+ D1 D3
Q1 Q3
+ Va −
Vdc

− D4 D2
Q4 Q2

Positive current

va = Vdc when Q1 and Q2 are ON

va = -Vdc when D3 and D4 are ON
va = 0 when current freewheels through Q and D
 DC DRIVES
AC-DC-DC DC-DC: Four-quadrant Converter
leg A leg B

+ D1 D3
Q1 Q3
+ Va −
Vdc

− D4 D2
Q4 Q2

Positive current Negative current

va = Vdc when Q1 and Q2 are ON va = Vdc when D1 and D2 are ON

va = -Vdc when D3 and D4 are ON
va = 0 when current freewheels through Q and D
 DC DRIVES
AC-DC-DC DC-DC: Four-quadrant Converter
leg A leg B

+ D1 D3
Q1 Q3
+ Va −
Vdc

− D4 D2
Q4 Q2

Positive current Negative current

va = Vdc when Q1 and Q2 are ON va = Vdc when D1 and D2 are ON

va = -Vdc when D3 and D4 are ON va = -Vdc when Q3 and Q4 are ON
va = 0 when current freewheels through Q and D va = 0 when current freewheels through Q and D
 DC DRIVES
Bipolar switching scheme – output
AC-DC-DC swings between VDC and -VDC

vc
2vtri

Vdc
Vdc
+ + vA
vA vB 0
- - Vdc
vB
0

vc Vdc

+ vAB

_ -Vdc
 DC DRIVES
Unipolar switching scheme – output
AC-DC-DC swings between Vdc and -Vdc

vc
Vtri
-vc

Vdc
+ + Vdc
vA vB
vA
-
0
-

Vdc
vc vB
0
+
Vdc
_
vAB
0

-vc
 Power Electronic Converters in ED Systems
DC DRIVES
AC-DC-DC DC-DC: Four-quadrant Converter

Armature
200 current 200

150 150 Armature

Vdc 100 Vdc 100 current
50 50

0 0

-50 -50

Vdc -100 -100

-150 -150

-200 -200

0.04 0.0405 0.041 0.0415 0.042 0.0425 0.043 0.0435 0.044 0.0445 0.045 0.04 0.0405 0.041 0.0415 0.042 0.0425 0.043 0.0435 0.044 0.0445 0.045

Bipolar switching scheme Unipolar switching scheme

• Current ripple in unipolar is smaller

• Output frequency in unipolar is effectively doubled
Advantages of Switch mode converters

Switch–mode converters

• Switching at high frequency

→ Reduces current ripple
→ Increases control bandwidth

• Suitable for high performance applications