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0% found this document useful (0 votes)
113 views27 pagesDC Drives
ELECTRICAL ENGINEERING
Uploaded by
vincentk.w18Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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/ 27
584 (Art. 12.2) Power Electronics
Electric Orive
oa |
rower Le nate Wertng
Fores [T-|coueterf | Mot fs gees
al
Fig. 12.1. An electric-drive system.
Wain Powe
onmand Fae ae
eget Le motor tae
~"LEsaverter
Rotor position or tt
speed sensor
Fig. 12.2, Block diagram for a modern electric drive system using power electronic converter.
Electric drives are mainly of two types : de drives and ac drives. The two types differ from
each other in that the motive power in dc and ac drives is provided by de motors and ac motors
respectively.
Dewy
DC motors are used extensively in adjustable-speed drives and position control
applications. Their speeds below base speed can be controlled by armature-voltage control.
Speeds above base speed are obtained by field-flux control. As speed control methods for de
motors are simpler and less expensive than those for ae motors, de motors are preferred where
wide-speed control range is required.
Phase-controlled converters provide an adjustable de output voltage from a fixed ac input
voltage. DC choppers also provide de output voltage from a fixed de input voltage. The use of
phase-controlled rectifiers and de choppers for the speed control of de motors have
revolutionized the modern industrial controlled systems.
‘The de motors used in conjunction with power-clectronic converters are de separately
excited motors or de series motors. These motors will, therefore, be studied here. Depending
upon the type of ac source or the method of voltage control, de drives are classified as under:
1. Single-phase de drives
2. Three-phase de drives
8, Chopper drives.
First the basic operating characteristics of de motors are presented and then three speed
control strategies as mentioned above are described. Electric Drives [art 12.2] 585
12.2.1, Basic Performance Equations of DC Motors
Equivalent circuit and basic performance equations for a separately-excited de motor and
a de series motor are presented in what follows.
(a) Separately-excited de motor. The equivalent circuit for a separately-excited de motor
coupled with a load is shown in Fig. 12.3 (a) under steady-state conditions. The load torque
T;, opposes the electromagnetic torque T,, For field circuit, Vj= Iy- ry
For armature circuit, V,=E,+I,rs (2a
Motor back e.m.f. or motor armature e.mf.,
E,=K, On =Ky On
Also, T, =D, +T;
where jotor terminal voltage, V
I, = armature current, A
6=field flux per pole, Wb
K,,=K, = torque constant, NnVA or, emf constant, V-sec/rad
7, = armature circuit resistance, Q
©, = angular speed of motor, rad/sec
1/= field circuit resistance, Q
D=viscous friction constant, Nm-sec/rad.
Electromagnetic power, P=«,,-T, watts
From Eq, (12.0), E,=Kn n=, lors
Virdee Virdee ss
or Og RRS (12,2)
It is seen from Eq, (12.2) that speed can be controlled by varying (i) armature terminal
voltage V,, known as the armature-voltage control and (ii) the field flux ¢, known as the
field-flux control.
Base speed is defined as the speed at which motor runs under rated armature voltage,
rated field current and rated armature current. Speeds below base speed are obtained by
armature-voltage control. During this control, armature current and field flux (or field current)
are kept constant so as to meet the torque demand. So the armature voltage control method
is also termed as constant-torque drive method because motor torque T,=K, ¢ 1, remains
almost constant.
‘ont
ibe +
f
gus
© O)
Fig. 12.3. Equivalent circuit of a (a) separately- de motor and (6) de series motor. $86 [Art 12.2) Power Electronics
Speeds above base speed are obtained by varying the field current or field flux and by
keeping V, and J, constant at their rated values. As flux decreases, speed increases so that
motor e.m.f, EZ, remains almost constant, Consequently, field-flux control method is also called
constant-power drive method as power P = E, I, remains substantially constant. The variations
of T,, P, Ig, Jp @ and V, against speed are shown in Fig. 12.4 for a separately-excited de motor.
1
re eld tux,
Twciiid veo :
~, current,[y
Ip
dose
speed
| am meena ase
rive
Fig. 12.4. Characteristics of a separately-excited de motor.
(b) DC series motor. For a series motor, field winding in series with the armature circuit
is designed to carry the rated armature current. Fig, 12.9 (6) gives the equivalent circuit of a de
series motor driving a load torque.
For the armature circuit in Fig. 12.8 (),
V,=E,tl,rat+7) (12.3)
T.=K, 61,
For no saturation in the magnetic cireuit, = CI,
ee 1,=K,CI2=ki.
Also B,=K, 60 q=K, Cl, Oy =k, Oy
From Eq, (12.3), Vi =k Ty Oy +1 oT)
Vi=1, tk Ont Gard] =
Vi-Ty Cat)
or speed,
MY Watrd
aI”
1, = series field resistance, 0
4 =K,C =a constant in Nm/A’ or in V-s/A. rad.
12.4) Electric Drives
ter
|
Feld tus.6
se
[Art. 12.3]
ase speed
at |p ee
Le constant torque drive—ete— Constant power —e
drive
Fig. 12.5, Characteristics of a de series motor.
Speed
387
For speed control up to base speed, armature terminal voltage V, is varied with J, kept
constant. Therefore, P (= V, [,) varies linearly and torque T, = k 3 remains constant. For speeds
above base speed, series field flux is decreased by the use of diverter or tapped-field control
and J, is kept constant. Therefore, torque 7, =K, 61, decreases but power P = £,, I, remains
substantially constant.
Speed control of de motors, when fed through single-phase or three-phase converters, is
now studied in what follows.
Fig. 12.6 illustrates the general circuit
arrangement for the speed control of a
separately-exeited de motor from a single-phase
source. The firing angle control of converter 1
regulates the armature voltage applied to de motor
armature. Thus, the variation of delay angle o, of
converter 1 gives speed control below base speed. The
variation of the firing angle a, of converter 2 installed
in the field circuit gives speeds above base speed. At
Jow values of o4 for converter 1, armature current may
become discontinuous. The discontinuous armature
current causes (i) more losses in the armature and (ii)
poor speed regulation. It is usual to insert an inductor
L in series with the armature circuit to reduce the \y
ripple in the armature current and to make the
armature current continuous for low values of motor
eds. Depending upon the type of power-electronic
phase sou 588 _[Art. 12.3] Power Electronics
converter used in the armature cirepit, single-phase de drives may be subdivided as under:
* 1, Single-phase half-wave converter drives
2. Single-phase semiconverter drives
3. Single-phase full-converter drives
4. Single-phase dual converter drives.
The converter drives listed above are now briefly discussed. In all these types, it is assumed
that armature current J, is constant.
12.3.1. Single-phase Half-wave Converter Drives
A separately-excited de motor, fed through single-phase half-wave converter, is shown in
Fig. 12.7 (a). Motor field circuit is fed through a single-phase semiconverter in order to reduce
the ripple content in the field circuit. Single-phase half-wave converter feeding a de motor
offers one-quadrant drive, Fig. 12.7 (6). The waveforms for source voltage v,, armature terminal
voltage »,, armature current i,, source current i, and freewheeling diode current iy are sketched
in Fig. 12.7 (c). Note that thyristor current ip =i,. The armature current is assumed ripple
free, Such types of drives are used up to about } kW de motors,
ve
b) ©
Fig. 12.7. Single-phase halfwave converter drive
(@) circuit a eforms.
diagram (b) quadrant diagram and (e) wi Electric Drives {Art, 12.3] 589
For single-phase half-wave converter, average output voltage of converter, V) = armature
terminal voltage, V, is given by Eq, (6.1) as
Vo
where V,, = maximum value of source voltage.
For single-phase semiconverter in the field circuit, the average output voltage is given by
Eq. (6.28) as
2 a +c08 0) for0
30
= cos (160°) = 2.044% w, + 30% 0.1
x60=30A
9.30 = 2.044 0, +3
~ 89.188 rad/sec
:. Speed, Ne ~ 851.683 rpm Electric Drives [Art 124) 597
12.8.4. Single-phase Dual Converter Drives
A single-phase dual converter, obtained by connecting two full-converters in anti-parallel,
is shown feeding a separately-excited de motor in Fig. 12.10 (a). Its use is limited to about 15
KW de drives. It offers four-quadrant operation, Fig. 12.10 (6). For working in first and fourth
quadrants, converter 1 is in operation. For operation in second and third quadrants, converter
2 is energised. Four-quadrant operation demands that field winding of the motor is energised
from a single-phase, or three-phase, full converter.
‘ ; Vn
For converter 1 in operation, V,=——" cos a, for 0< 0 <.
For converter 2 in operation, V, =
cosa, for 0 Sa, Sx
where ay + oy
2,
For field converter, Vp mn cosa, for 0 90° and with field excitation reversed operates the motor in
forward regenerative braking mode in quadrant 4,
(ii) Converter 2 with og < 90° operates the motor in reverse motoring mode in quadrant 3.
(iv) Converter 2 with o> 90° and with field excitation reversed operates the motor in
reverse regenerative braking mode in quadrant 2.
Dy
Large de motor drives are always fed through three-phase converters for their speed
control. A three-phase controlled converter feeds power to the armature circuit for obtaining
speeds below base speed. Another three-phase controlled converter is inserted in the field
circuit for getting speeds above base speed, 598 _[Art, 12.4) Power Electronics
‘The output frequency of three-phase converters is higher than those of single-phase
converters. Therefore, for reducing the armature current ripple, the inductance required in a
three-phase de drive is of lower value than that in a single-phase de drive. As the armature
current is mostly continuous, the motor performance in 3-phase de drives is superior to those
in single-phase de drives.
‘The three-phase de drives, as in single-phase de drives, may be subdivided as under :
1. Three-phase half-wave converter drives
2, Three-phase semiconverter drives
3. Three-phase full-converter drives
4. Three-phase dual-converter drives
‘These converter controlled de drives are now described one after the other, Armature
current is assumed ripple free for convenience.
12.4.1. Three-phase half-wave converter driv:
Fig. 12.11 (a) illustrates a 3-phase half-wave converter drive consisting of two converters and
a separately-excited de motor. The armature circuit of the motor is fed through a 3-phase half-
‘wave converter whereas its field is energised through a 3-phase semiconverter. This converter
offers one-quadrant operation Fig. 12.11 (b) and may be used up to about 40 kW motor ratings.
‘Two-quadrant operation can also be obtained from three-phase half-wave converter drive in case
motor field winding is energised from single-phase or three-phase full converter.
Mw fof y Tots? abet ape
* j i {oat
Je ‘i zn i |
ink md : i
inf 2 ' i
I Bt =
® ©
Fig. 12.11. Threo-phase half-wave converter drive
(a) circuit diagram (6).quadrant diagram (c) x Electric Drives [Art 12.4) 599
For a 3-phase half-wave converter, average value of output voltage or armature terminal
voltage, from Eq. (6.50), is
3y,
Vo=V,= pcos a for Osacn (12.17)
where Vj = maximum value of line voltage and a. is the firing angle for converter 1. The
voltage expression of Eq. (12.17) is valid only for continuous armature current. For three-
phase semiconverter, the average value of field voltage, from Eq. (6.55), is given by
8V qt
y=
A three-phase half-wave converter drive is not normally used in industrial applications as
it introduces de component in the ac supply line,
It is seen from the waveforms of Fig. 12.11 (c) that
rms value of armature current, Iy, =I,
rms value of phase or line current,
(+cosa,) ford sa, sx (12.18)
(12.19)
(12.20)
=(12.19)
12.4.2. Three-phase Semiconverter Drives
‘The circuit diagram for a 3-phase semiconverter feeding a separately-excited de motor is
shown in Fig. 12.12. The field winding of the motor is also connected to three-phase
semiconverter. This drive offers one quadrant operation and is used up to about 115 kW ratings.
On the assumption of continuous and ripple free armature current, waveforms for line
current i, and thyristor current ip, are sketched in Fig. 12.13 for firing angle o = 30° and also
for a= 90°. An examination of these waveforms would reveal that
@ for firing angle a 60°, each thyristor conducts for 120° and
(ii) for 60° < a < 180°, each thyristor conducts for (180° ~ a).
Note that freewheeling diode comes into conduction only when firing angle of 3-phase
semiconverter is more than 60° ie, when a> 60°. The waveforms of Fig. 12.13 reveal that
freewheeling diode conducts for (ct ~ 60°) in case load, or armature, current is continuous. Also,
‘conduction angle of thyristor + conduction angle of freewheeling diode = 120°, when armature
current is continuous.
‘As armature current is ripple free, rms value of armature current, J,,=1,. It is also seen.
from Fig. 12.18 as under :
For c 60°, rms value of supply line current, i, is given by,
(42.21)
and rms value of thyristor current in, is given by
Tage 177
[ee plate
3 On)
In, (12.22) 600 [Art. 12.4}
Power Electronics
2,0
Fig. 12.12, Three-phase semiconverters feeding a separately-oxcited de motor.
[ ESR
je pw | |
oT oT os To To
ot
el
1 ot
[spate
rote, Each SCR conducts
pou for 120 for w< 60°
is
90"
0
wt
1=90%-—j Each SCR conducts
(0-2) for 60"
ot
Fig. 12.18. Voltage and current waveforms for a
three-p!
f Fig. 12.12, Electric Drives [art 124) 601
For 60° < 0 < 180°, rms value of supply line current i, is given by
va
_[p2(1g0-0\) 180-a
te-[f (a* ] =le Vo oap (12.23)
and rms value of thyristor current ip, is given by
va
180 -
trate Bei ) (12.24)
ae a . ai 180 -
From above, itis obvious that average thyristor current is + J, for « <60° and| >" |1,
for 60° < a < 180°
For 60° PVYVPTYADP
RRS
KORE
[ Lrseso
ideal Anat
a | 604 (Art, 12.4) Power Electronics
rms value of thyristor current, from ip, waveform,
Ty = VI? 3% on (12.28)
and average value of thyristor current,
and aa
Inn ly Bx 12.29)
It may be observed in Fig. 12.15 that source current ig is positive when first subscript with
voltage is a, as in gp, Ue. Similarly, source current i is negative when second subscript is a,
just as it is in Ujg, Ujq. On this basis, source current waveforms for phases B and C can also be
sketched.
Example 12.10. A 100 RW, 500 V, 2000 rpm separately-excited de motor is energised from
400 V, 50 Hz, 3-phase source through a 3-phase full converter. The voltage drop in conducting
thyristors is 2V. The de motor parameters are as under :
7.20.19, K,=1.6V-s/rad, L,=8 mH.
Rated armature current = 210 A. No-load armature current = 10% of rated current.
Armature current is continuous and ripple free.
(a) Find the no-load speed at firing angle of 30°.
(b) Find the firing angle for a speed of 2000 rpm at rated armature current. Determine also
the supply power factor.
(©) Find the speed regulation for the firing angle obtained in part (b).
Solution. (a) The motor terminal voltage,
Vg V, = 22400 54 30° = 467.75 V
Also a
or 467.75 =K,, Wy +21 0.142
+. Nedoud motenspeedw 2°? 4 ss 1 rad/see or 2767.2 rpm.
(b) At rated armature current and at 2000 rpm,
Ku Om tTy tat 2
or Bee 00 og = 1.6 x 2X20 5. 2100.1+2= 858.1
or a= cos"? [Bas 2 ia =4847°
Rms value of source current, from Eq, (12.27) is
I, 2 =210/2 171.464 i
«. Supply pf Vely 358.10 x 210
WV, Ty 7 Wx 400 171.06 * 1988 108
, speed is 2000 rpm, armature terminal voltage V, = 388.1 V an:
* this fring angle, ifrated load ie reduced to aero, then
¥ Kp Wq +21 x 0142
(c) At rated
angle is 48 Electric Drives [Art 12.4] 605
358.1-4.1
or 0, = 8S
1112. 2000
2000
Example 12.11.A 230V, 1500 rpm, 20 separately-excited de motor is fed from 3-phase full
converter. Motor armature resistance is 0.6 Q. Full converter is connected to 400 V, 50 Hz source
through a delta-star transformer. Motor terminal voltage is rated when converter firing angle is
zero.
(a) Calewlate the transformer phase turns-ratio from primary to secondary.
(b) Calculate the firing angle delay of the converter when (i) the motor is running at 1000
rpm at rated torque and (ii) the motor is running at (- 900) rpm and at half the rated torque:
Solution. (a) For zero degree firing angle, motor terminal voltage is rated ie. 230 V.
Therefore,
rad/sec or 2112.8rpm
+ Speed regulation
x 100 = 5.64%
3v2 V,
eos 0° = V,= 2300
230x x
or Vi= Fae = 170849 a
Here V; is the line voltage. Per-phase voltage on transformer star side is
170.34
Vpn =~ yg = 98.35 V
Per-phase voltage input to transformer delta’= 400 V.
~. Transformer phase turns ratio from primary to secondary
400
= 95.95 = 4067.
(8) (i) At 1500 rpm, E, = V,-I,r,= 230-20 0.6= 218 V
At 1000 rpm, motor emf = 225 x 1000 = 145.83 V
For this motor emf, armature terminal voltage at rated torque is
V, =B, +1, r= 145.33 + 20 x 0.6 = 157.33 V
3y,
But 3 dos a = Vo=V, = 157.33 V
cong? | —157.33x 8 ]_ .
or a=cos [ae road | 4684
(i) At half the rated torque, armature current J, = } x rated current
*20=10A
218+ 10x 0.6 =-124.8V
or temone tf 22.861"
124.8% ]_
[892 170.34) ~ 606 (Art. 12.4) Power Electronics
Example 12.12. A 290 V, 10 kW, 1000 rpm separately-excited de motor has its armature
resistance of 0.3 2 and field resistance of 300 ©. The speed of this motor is controlled by two
‘S-phase full converters, one in the armature circuit and the other in the field circuit and both are
fed from 400 V, 50 Hz source, The motor constant is 1.1 V-s/A.rad. Armature and field currents
are ripple free.
(a) With field converter setting to maximum field current, caleulate firing angle for the
armature converter for load torque of 60.Nm at rated speed.
(®) With the load torque as in part (a) and zero degree firing angle for armature converter,
speed is to be raised to 3000 rpm. Determine the firing angle of the field converter.
Solution. (a) For maximum field current, firing angle of field converter is zero. Therefore,
field voltage,
Field current,
Motor emf,
With no saturation, o=Kl, E,=K, Kj 0, =hIy- Oy
where & is a constant in V-s/A.rad
Motor torque, ,=K,61g=K,K ly [g=h ly Ty
or 60=1.1%18xI,
60
Motor eurrent, = Tae 9780308
8,
For the motor converter, V,=Vg=—" cos a= Ey to re= Ip: Om laa
Sawe 281000 | 39,30 0.3 = 216.435 V
08 = 1.1 x 18 x =
. Firing angle of armature converter,
c= cos") 26-8955 |. 66.976
(b) With zero degree firing angle of the armature converter,
BY 400 og 02 = 3.1 1px X80. 30.90% 0.8
540.1
or 1-2 oasoee
.. Field voltage, Vp p12 1.8868 x 900 = 22 £100 og
« Firing angle of field converter,
~1[ 300 x 1.6366 xx
ay = cos" [
x 400
Example 12.13, In a speed controlled de drive,
operation is under steady state and the speed i
torque is instantly increased to 100 Nm. The ine)
negligible.
= 31.406"
load torque is 40 Nim, At time t = 0, the
rpm, Under this condition at t = 0+, the generated
fthe 01.Nm.« sec?/rad. The friction is Electric Drives [Art 12.4] 607
(a) Write down the differential equation governing the speed of the drive for t > 0.
(8) Evaluate the time taken for the speed to reach 1000 rpm. IGATE, 1998]
Solution. (a) At t=0, steady state exists and therefore, generated torque, 7, = Ty, load
torque
In general, the dynamic equation for the motor-load combination is generated (or motor)
torque = inertia torque + friction torque + load torque
doy,
dt
As friction torque is zero, Da,, = 0. This gives the differential equation, governing the speed
of the drive at ¢ > 0, as
or 7.
+ Do, +7,
100 = 0.01 222 + 40 “a
=00 28, ok
() From Eq, (i), 6000
or 6000
. . ‘ 1
is integration gives, = G5: +A
Initial speed at ¢ = 0 + remains 500 rpm. Therefore
From Ea. (ii),
2nx 1000 _ 200
60 6
200 x
ie 0.0873 sec
.. Time taken for the speed to reach 1000 rpm =-0.0873 see.
Example 12.14, A de motor driven from a fullycontrolled 3-phase converter shown in Fig.
12,16 draws a de current of 100 A with negligible
ripple phase
(a) Sketch the ac line current i, for one cycle. inaut_ 44
(b) Determine the 3rd and 5th harmonic
components of the line current o3 a percentage of
the fundamental current. IGATE, 1998)
Solution. (a) The ae line current i, for one
cydle is sketched in Fig. 12,15 for a firing angle a
der the assumption of negligible ripple in, the
armature eurrent J, = 100 A.
Final speed ad/sec
t
1008
ig. 12.16, Pertaining to Example 12.14. te Fa ae
(8) The line current i, shown in Fig, 12.15 can be expressed in Fourier series as
jan = tan =D cos % sin (natn)
201,385
Ris value of the nth harmonic line current is given by
Rms value of fifth-harmonic current,
221, ~
Iyg= =z 008 150° = - 55 I, “
From above, third harmonic current as a percentage of fundamental current = 0% and fifth
harmonic current as a percentage of fundamental current
GI,
Fa 4 1002-32, LE x 100=- 20%,
ta oe 6-7,
Example 12.15. A de motor driven
from a 3-phase full converter shown in Fig.
12.17 draws a de line current of 60.A with
negligible ripple.
(@) Sketch the line voltage vg, taking it
zero-crossing and becoming positive at
wt =0, Also, shetch the line current i, for
one cyele for a= 150°. Indicate also the
conduction of devices. Thyristor current ip
should also be sketched.
(b) Calculate average and rms values _ Fig. 12.17. Three-phase full converter feeding a
of thyristor current. de motor, Example 12.15.
(c) Compute power factor at the ac source.
(d) If motor constant is 2.4 V-see /rad-and armature circuit resistance is 0.8 Q, calculate the
motor speed.
Solution. (2) Note that for line voltages v5, Vac, Use, Ua ete. and with vg, a8 shown in Fig.
12.18, firing angle o for thyristor T1 must be measured from ot = 5. Accordingly,
measured from the instant wt = n/8 in Fig, 12.18,
Motor current J, = 60 Ais shown constant in Fig. 12.18, At c= 160°, 71 is turned on. So
voltage v,, will send constant current J, through T1, 76, Thyristor T1 will conduet for 120°; for
= 150° is Electric Drives Tart. 12.4) 609
Val
7413 abeTUTS
20
76 7 ot
Fig. 12.18, Waveforms for Example 12.15.
the first 60°, T1, 76 conduct together. For the next 60°; T1, T2 conduct together as shown in Fig.
12.18. Voltage vjq =~ v5 will cause’ T8, T4 to conduct for 60° and v,,, will force'T5, T4 to conduct
for the next 60° as shown. Note that voltages v., ¥,, Will cause line current i, to be negative
whereas for Ugs, Use line current i, is positive. Thyristor current iy through T1 will flow only
when i, is positive.
i
(©) Average thyristor current, Izq=¢=82=20A
1, _ 60
Rms thyristor current, ages 62 A
(©) Rms value of source eurrent, 1, =1,\ =60°J2
Power delivered to motor =Vp-I,
Power factor at ac source
s 2 Vo
— wage v, La
= cos 150 =~ 0.827,
®
Minus sign for the power factor merely indicates the system to be in the inversion mode.
@ Vo = Vp= SP x 400 og 150° = Kw, + 600.5 610 (Art. 12.5] Power Electronics
=ASTTB =80 _ - 207.89 rad/see or - 1980.43 rpm a
The motor is in the regenerative braking mode with emf B, reversed from its motoring
mode polarity.
12.4.4, Three-phase Dual Converter Drives
‘The schematic diagram for a 3-phase dual converter de drive is shown in Fig. 12.19.
Converter 1 allows motor control in I and IV quadrants whereas with converter 2, the operation
in II and III quadrants is obtained. The applications of dual converter are limited to about 2
MW-drives. For reversing the polarity of motor generated emf for regeneration purposes, field
circuit must be energised from single-phase or three-phase full converter.
1 phase or
3phase fc.
Fig. 12.19, Three-phase dual converter controlled separately-excited de motor.
When converter 1, or 2, is in operation, average output voltage is
ay, ;
Vo=V,=— cos oy for 0