Converter fed DC drives

Dr. Chitra A., SELECT, VIT University

 Topics

Drive types

Single phase converter fed drives

Two quadrant operation of drives

Four quadrant operation of drive

Dr. Chitra A., SELECT, VIT University

2
SCR “phase-angle controlled” drive
- 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.

Dr. Chitra A., SELECT, VIT University

3
• Mains operated.

• Variable DC voltages are obtained from SCR firing angle control.

• Slow response.

• Normally field rectifier have much lower ratings than the armature
rectifier. It is only used to establish the flux.
4
1. Single-Phase Half-Wave Converter Drives

V 
Vm
(1  cos ) for 0  
2
2. Single-Phase Semiconverter Drives
Vm
V  (1  cos )
 for 0  
3. Single-Phase Full-Converter Drives
2Vm
V  cos for 0  

4. Single-Phase Dual-Converter Drives

V 
2Vm
cos for 0  

5
 Armature Field
For continuous current, armature voltage
is :


Armature (DC) current is : Q2 Q1

Q3 Q4 T

Field voltage
6
Two quadrant operation
ia

+
• Two-quadrant drive Single-
phase Va
For continuous current: supply
• Armature voltage 

2Vm
Va  cos a
where Vm

= peak voltage
2Vm


• Armature current
Va  Ea
Ia  90o 180o


• Field voltage Ra
2Vm 
2Vm
Vf  cos f 
 7
Quadrant I operation
ia
• Two-quadrant drive + +
Single-
For Quadrant 1 operation: phase Va Ea

•  positive  Ea and Va positive supply
 
• a  90
• Ia positive
• Rectifier delivers power to motor, Va 
2Vm
cos a
i.e. forward motoring. 2Vm 


Q1

90o 180o

2Vm


8
Quadrant4 operation
ia

 
• Two-quadrant drive Single-
phase Va Ea 
For Quadrant 4 operation: supply
+ +
•  negative  Ea negative
• a > 90  Va negative
• Ia positive (still in same direction) Va 
2Vm
cos a
• Rectifier takes power from motor, 2Vm 

i.e. regenerative braking.


90o 180o

Q4
2Vm


9
Two-quadrant drive
Limited to applications up to 15 kW
Regeneration (Q4) only be achieved with loads that can drive the motor in reverse (-ve )

Q2 Q1

Q3 Q4 T

Dr. Chitra A., SELECT, VIT University

REVERSAL

• DC motor in inherently bi-directional. Hence no problem to

reverse the direction. It can be a motor or generator.

• But the rectifier is unidirectional, because the SCR are unidirectional

devices.
• However, if the rectifier is fully controlled, it can be operated to
become negative DC voltage, by making firing angle greater than 90
degrees,

• Reversal can be achieved by:

– armature reversal using contactors (2 quadrant)
– field reversal using contactors (2-quadrant)

– double converter (full 4-quadrants)

11
Reversal using armature or field contactors

CONTACTOR AT THE ARMATURE SIDE

(SINGLE PHASE SYSTEM)

Dr. Chitra A., SELECT, VIT University

12
Dual converter Fed Single-phase DC
Drives


 Four-quadrant drive
 Converter 1 for operation in 1st and 4th quadrant
Q2 Q1
 Converter 2 for operation in 2nd and 3rd quadrant
Q3 Q4 T
 Limited to applications up to 15 kW

+
Single- ia Single-
phase Va phase
supply supply


Converter 1 Converter 2

13
 Dual converter Fed Single-phase DC
Drives
 Four-quadrant drive
For continuous current:
 Both converters are operated to produce the same dc voltage across
the terminal, i.e.:
V1 V2  0
where 2Vm and 2Vm
V1  cos a1 V2  cos a 2
 
(Vm = peak supply voltage)
 Hence, firing angles of both converters must satisfy the following:

+ 
 a1   a 2  
V1 V2
Two rectifiers
 +
connected in anti-
parallel across
Converter 1 Converter 2
motor armature 14
 Continuous/Discontinuous current
• The key reason for successful DC drive operation is due to the large
armature inductance La.

• Large La allows for almost constant armature current (with small

ripple) due to “current filtering effect of L”.
• Average value of the ripple current is zero. No significant effect on
the torque.
• If La is not large enough, or when the motor is lightly loaded, or if
supply is single phase (half wave), discontinuous current may
occur.
• Effect of discontinuous current: Output voltage of rectifier rises;
motor speed goes higher. In open loop operation the speed is poorly
regulated.

• Worthwhile to add extra inductance in series with the armature

inductance.
DC – DC Converter Fed Drives
- Four-quadrant Control
 For both positive and negative current, output voltage can
swing between:
 Vdc and -Vdc
 Vdc and 0
 Four quadrant chopper has two legs, so it requires two
switching signals (one for each leg)
 Depending on relationship between the two switching signals,
4-quadrant chopper has two switching schemes:
 Bipolar switching
 Unipolar switching
 Switching scheme determines output voltage swing between
Vdc and -Vdc or Vdc and 0.
16
DC – DC Converter Fed Drives
• Operation of DC motor drive depends on:
• Direction of Ia (determined by torque, i.e. motoring or
braking)
• Polarity of Va and Ea (determined by speed, i.e. forward or
reverse)
• the duty cycle of the DC-DC Converter (either two-quadrant
or four-quadrant)
• Open loop control is achieved by changing the duty
cycle manually as and when required

17
Chopper-Controlled DC
Drives

18
Outline
• Introduction
• DC – DC Converter Fed Drives
• Step Down Class A Chopper
• Step Up Class B Chopper
• Two-quadrant Control
• Four-quadrant Control

19
Applications of DC drives
• Subway cars
• Trolley buses
• Battery operated vehicles
• Marine hoists
• Forklifts, etc
Range
Few watts to thousands of kW
Conventional schemes to get variable DC
voltage from a fixed DC
• Resistance Control
• Motor generator set
Eg. Ward Leonard system
Power Electronic Converters
for DC Drives
 Power electronics converters are used to obtain variable voltage
 Highly efficient
 Ideally lossless
 Type of converter used is depending on voltage source :
AC voltage source  Controlled Rectifiers
Fixed DC voltage source
 DC-DC converters (switch mode converters)

22
Control strategies
• Time-ratio Control
Here the duty ratio is varied. Two ways of it are
Constant Frequency Operation
Variable Frequency Operation
• Current Limit Control
Constant Frequency Operation
Variable Frequency Operation
Limitations of FM
Current Limit Control

• In the current limit control strategy, the switch in dc-dc converter

(chopper) is turned ON and OFF, so that the current is maintained
between two (upper and lower) limits.
Dr. Chitra A., SELECT, VIT University
DC – DC Converter Fed Drives
 To obtain variable DC voltage from fixed DC source
 Self-commutated devices preferred (MOSFETs, IGBTs,
GTOs) over thyristors
 Commutated by lower power control signal
 Commutation circuit not needed
 Can be switched at higher frequency for same rating
 Improved motor performance (less ripple, no discontinuous
currents, increased control bandwidth)
 Suitable for high performance applications
 Regenerative braking possible up to very low speeds
even when fed from fixed DC voltage source

30
DC – DC Converter Fed Drives
- Step Down Class A Chopper

Motoring
Q2 Q1
• Provides positive output
Q3 Q4 T
voltage and current Ia
S
• Average power flows from
source to load (motor)
Ra
• Switch (S) operated Va
periodically with period T La
V D

Ea

31
 DC – DC Converter Fed Drives
- Step Down Class A Chopper Ia
S
Motoring
S is ON (0  t  ton) Ra
Ia
Va

V La
Ra D
Va
V La Ea

Ea
•Va = V Duty
•Ia flows to motor Interval
dia
Raia  La  E V •|Ia| increases ( ia  )
dt
32
DC – DC Converter Fed Drives
- Step Down Class A Chopper Ia
S
Motoring
S if OFF (ton  t  T) Ra
Ia
Va

V La
D
Ra
Va
ID La Ea

Ea •Va = 0 Freewheeling
•Ia freewheels through Interval
dia diode DF ( ia  )
Raia  La E 0
dt •|Ia| decreases
33
Chopper controlled DC drive equations
DC – DC Converter Fed
- Step Down Class A Chopper
Motoring
ton
Duty cycle   where T  chopper period
T
Under steady-state conditions:
Motor side:
Va  Ra I a  E Duty
Chopper side, average armature Interval Freewheeling
voltage: ( ia  ) Interval
( ia  )
Therefore,
a  V
Hence, averageVarmature current:
V  Va  Ra I a  E

V  E
Ia 
Ra T
35
DC – DC Converter Fed Drives
- Step Up Class B Chopper 
Regenerative Braking
 Provides positive output voltage and Q2 Q1
negative average output current Q3 Q4 T
 Average power flows from load (motor) to
source Ia
•Possible for speed
D above rated speed
Ra and down to nearly
Va zero speed
S La •Application:
V
Switch (S) • Battery operated
operated vehicles
periodically
Ea • Regenerated
with period T power stored in
battery 36
 DC – DC Converter Fed Drives
- Step Up Class B Chopper
Ia

Regenerative Braking D
Ra
S is ON (0  t  ton)
Ia  Va = 0 (diode blocks V) Va
 ia increases due to E V S La
Ra (since E > Va)
Va  Mechanical energy
S converted to electrical Ea
La (i.e. generator)
 Energy stored in La
Energy Storage
Ea  Any remaining energy
dissipated in Ra and S Interval
dia ( ia  )
Raia  La E
dt 37
 DC – DC Converter Fed Drives
- Step Up Class B Chopper Ia
Regenerative Braking
D
S if OFF (ton  t  T) Ra
Ia • ia flows through Va
diode D and S La
source V V
Ra
• ia decreases in
Va negative direction Ea
V La • Energy stored in La
& energy supplied
by machine are fed Duty
Ea to the source Interval
dia ( ia  )
Raia  La V  E
dt
38
DC – DC Converter Fed Drives
- Step Up Class B Chopper
Regenerative Braking
Negative because
 Duty cycle ton
 where T  chopper period current flows from
T motor to source
 Under steady-state conditions
Generator side: Va  E  Ra I a Energy Storage
Duty
Chopper side, average armature Interval
Interval
voltage: ( ia  )
( ia  )
 Therefore, Va  1   V

1 average
 Hence,  V  armature
Va  E current:
Ra I a

E  1   V
Ia 
Ra T
39
DC – DC Converter Fed Drives
- Two-quadrant Control
No Speed
• Combination of Class A & B choppers
Reversal
• Forward motoring Q1 - T1 and D2 (Class A)

• Forward braking Q2 – T2 and D1 (Class B)
Q2 Q1
+
Q3 Q4 T
T1
V D1
• Va always +ve   always +ve
• Ia can be +ve or –ve
+ • Do not fire both switches
T2 Va together  short circuit at
D2
- supply
-

41
 DC – DC Converter Fed Drives
- Two-quadrant Control
 Forward motoring Q1 - T1 and D2 (Class A)
 T1 conducting: Va = V (ia ) • D2 conducting: Va = 0 (ia )

+ +
T1 T1 D1
D1
ia ia
V V
+ +
D2 D2
T2 T2
Va

Va 
- -

Average Va = 1V,
1 = (ton T1 / T ), 2 = 0 Average
Va Ea

T1 chopping T2 always •Average Va positive

ON & OFF OFF •Average Va made larger than
back emf Ea
42
•Ia positive
DC – DC Converter Fed Drives
- Two-quadrant Control
 Forward braking Q2 – T2 and D1 (Class B) D1
conducting: Va = V (ia ) • T2 conducting: Va = 0 (ia )

+ +
T1 T1 D1
D1
ia ia
V V
+ +
D2 D2
T2 T2
Va

Va 
- -

Average Va =(1 - 2)V,

1 = 0, 2 = (ton T2 / T ) Average
Ea
Va
•Average Va positive
T1 always T2 chopping
•Average Va made smaller
OFF ON & OFF than back emf Ea
•Ia negative (motor acts as 43
generator)
DC – DC Converter Fed Drives
- Two-quadrant Control
 For fast transition from motoring (Q1) to braking
(Q2) and vice versa, both T1 and T2 are controlled
simultaneously, i.e. within a period T:
 T1 in ON and T2 is OFF between time 0 < t ≤ ton
 If Ia is positive (Va > E), current flows from supply to motor via T1
 If Ia is negative (E > Va), current flows from motor to supply via D1
 T1 is OFF and T2 is ON between ton < t ≤ T
 If Ia is positive, current circulates via D2
 If Ia is negative, current circulates via T2
 Duty ratio is given by: ton T 1
 where T  chopper period
T
 Average armature voltage is: Average Va =V
44
DC – DC Converter Fed Drives
- Four-quadrant Control
• Operation in all four quadrants
• Va and Ia can be controlled in magnitude and polarity
• Power flow can be in either direction 

• Speed and torque can be reversed Q2 Q1

Q3 Q4 T

D1 i D3
T1 a T3
+ Va - Note:
Polarity of Va and
direction of Ia
T4 D2 T2 indicated are
D4
assumed
positive.
45
 DC – DC Converter Fed Drives
- Four-quadrant Control
• When a switch is on (i.e. ‘ON state’) it may or may not
conduct current depending on the direction of ia
• If a switch conducts current, it is in a conducting state
• Converter has two legs (Leg A & Leg B)
• Both switches in each
Leg B
leg, are alternately
switched +
• If T1 = ON, T4 = OFF i
T1 D1a D3
T3
+ Va -
• If T4 = ON, T1 = OFF Vdc

T4 D2 T2
D4

- 46
Leg A
Quadrant I operation
Q1-Forward motoring
Q2 - Forward regeneration
Q2 - Forward regeneration
Q3- Reverse Motoring
Q4- Reverse Braking
DC – DC Converter Fed Drives
- Four-quadrant Control 

 Positive Current (Ia > 0) Q2 Q1

 Va = Vdc when T1 and T4 are ON
Q3 Q4 T
 Current increases
 Q1 operation
 Va = 0 when current
freewheels through +
T4 and D1 T1
D2 D4
T3
+ Va -
 Current decreases ia
 Va = -Vdc when D1 and D4 Vdc
conducts current
T2 T4
D3
 Current decreases D1
-
 Energy returned to supply
 Q4 operation
T3 and
T2 off 53
DC – DC Converter Fed Drives
- Four-quadrant Control 
 Negative Current (Ia < 0)
Q2 Q1
 Va = -Vdc when T3 and T2 are ON
 Current increases in negative direction Q3 Q4 T
 Q3 operation
 Va = 0 when current
freewheels through
T2 and D3 +
D2 D4
 Current decreases T1 T3
+ Va -
 Va = Vdc when D3 and D2 ia
Vdc
conducts current
 Current decreases
T2 T4
 Energy returned to D1 D3
supply -
 Q2 operation
T1 and
T4 off 54
DC – DC Converter Fed Drives
- Four-quadrant Control
 For both positive and negative current, output voltage can
swing between:
 Vdc and -Vdc
 Vdc and 0
 Four quadrant chopper has two legs, so it requires two
switching signals (one for each leg)
 Depending on relationship between the two switching signals,
4-quadrant chopper has two switching schemes:
 Bipolar switching
 Unipolar switching
 Switching scheme determines output voltage swing between
Vdc and -Vdc or Vdc and 0.
55
DC – DC Converter Fed Drives
• Operation of DC motor drive depends on:
• Direction of Ia (determined by torque, i.e. motoring or
braking)
• Polarity of Va and Ea (determined by speed, i.e. forward or
reverse)
• the duty cycle of the DC-DC Converter (either two-quadrant
or four-quadrant)
• Open loop control is achieved by changing the duty
cycle manually as and when required

56
1.A 220 V, 1500 rpm, 10 A separately excited D.C. motor has an armature
resistance of 1 Ohm. It is fed from a single phase fully controlled bridge
converter with an AC source voltage of 230 V, 50 Hz. Assuming continuous load
current. Calculate (i) Motor speed at the firing angle of 300 and torque of 5 N-m,
(ii) Developed torque at the firing angle of 450 and speed of 1000rpm.

Dr. Chitra A., SELECT, VIT University

1.A 220 V, 1500 rpm, 10 A separately excited D.C. motor has an armature
resistance of 1 Ohm. It is fed from a single phase fully controlled bridge
converter with an AC source voltage of 230 V, 50 Hz. Assuming continuous load
current. Calculate (i) Motor speed at the firing angle of 300 and torque of 5 N-m,
(ii) Developed torque at the firing angle of 450 and speed of 1000rpm.

Dr. Chitra A., SELECT, VIT University

Back EMF and torque constants are equal

Dr. Chitra A., SELECT, VIT University