UNIVERSITY OF DAR ES

SALAAM
Lecture - 2

EE 415: Introduction to Variable Speed Drives

(Speed Control of DC Machines)

(Group Assignments)

Dr. Jackson J. Justo, EE-Dept. @2017 1

2. DC Machine Drives

2.1 Overview of DC Machines Drives

2.2 Modeling of DC Machine Drives (Block
diagrams and Transfer Functions)
2.3 Two & Four Quadrant Operations of DC
Machines
2.4 Solid-State Control for DC Drives
2.5 Control Design for DC drives
2.6 Power Flow and Losses in DC drives
2.7 Summary of Lecture – 2
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2. DC Machine Drives: Assignments

 Project 1: (5 Marks of CA)

Group 1: Simulation of half controlled rectifier of a separately excited dc
motor
Tasks:
Draw the equivalent circuit, block diagram, and control system.
Using the diagrams above, write the modeling equations both in state-space
and s-domain
Design the control system by determining the stability of the drive system and
Calculate the speed controller gains
Develop the model using MATLAB/Simulink and present some simulation
results
 Under steady-state condition
 Under reference speed step-change
3
 Load torque change
2. DC Machine Drives

 Project 1: (5 Marks of CA)

Group 2: Simulation of fully controlled rectifier of a separately excited
dc motor
Tasks:
Draw the equivalent circuit, block diagram, and control system.
Using the diagrams above, write the modeling equations both in state-space
and s-domain
Design the control system by determining the stability of the drive system and
Calculate the speed controller gains
Develop the model using MATLAB/Simulink and present some simulation
results
 Under steady-state condition
 Under reference speed step-change
4
 Load torque change
2. DC Machine Drives

 Project 1: (5 Marks of CA)

Group 3: Simulation of two quadrant operation of the dc drive with series
excited dc motor
Tasks:
Draw the equivalent circuit, block diagram, and control system.
Using the diagrams above, write the modeling equations both in state-space
and s-domain
Design the control system by determining the stability of the drive system and
Calculate the speed controller gains
Develop the model using MATLAB/Simulink and present some simulation
results
 Under steady-state condition
 Under reference speed step-change
5
 Load torque change
2. DC Machine Drives

 Project 1: (5 Marks of CA)

Group 4: Simulation of chopper controlled separately excited dc motor

Tasks:
Draw the equivalent circuit, block diagram, and control system.
Using the diagrams above, write the modeling equations both in state-space
and s-domain
Design the control system by determining the stability of the drive system and
Calculate the speed controller gains
Develop the model using MATLAB/Simulink and present some simulation
results
 Under steady-state condition
 Under reference speed step-change
 Load torque change 6
2. DC Machine Drives

 Project 1: (5 Marks of CA)

Group 5: Simulation of Single phase dual converter for dc drives

Tasks:
Draw the equivalent circuit, block diagram, and control system.
Using the diagrams above, write the modeling equations both in state-space
and s-domain
Design the control system by determining the stability of the drive system and
Calculate the speed controller gains
Develop the model using MATLAB/Simulink and present some simulation
results
 Under steady-state condition
 Under reference speed step-change
 Load torque change 7
2. DC Machine Drives

 Project 1: (5 Marks of CA)

Group 6: Simulation of three phase half controlled converter fed dc
separately excited dc motor
Tasks:
Draw the equivalent circuit, block diagram, and control system.
Using the diagrams above, write the modeling equations both in state-space
and s-domain
Design the control system by determining the stability of the drive system and
Calculate the speed controller gains
Develop the model using MATLAB/Simulink and present some simulation
results
 Under steady-state condition
 Under reference speed step-change
 Load torque change 8
2. DC Machine Drives

 Project 1: (5 Marks of CA)

Group 7: Simulation of three – phase fully controlled converter dc drive

Tasks:
Draw the equivalent circuit, block diagram, and control system.
Using the diagrams above, write the modeling equations both in state-space
and s-domain
Design the control system by determining the stability of the drive system and
Calculate the speed controller gains
Develop the model using MATLAB/Simulink and present some simulation
results for
 Under steady-state condition
 Under reference speed step-change
 Load torque change 9
2. DC Machine Drives

 Solid State Control for DC drives

 Phase controlled converter fed dc drives

Phase controlled converters are used to get variable dc voltage from an ac

source of fixed voltage.

Several types of converters are for feeding the dc motor. As thyristors are
capable of conducting current only in one direction, all these rectifiers are
capable of providing current only in one direction.

Single phase drives: single phase fully controlled bridge converter driven dc
motor, single phase half-controlled bridge converter driven dc motor

Three phase converter fed drives: three phase half controlled rectifier, three
phase full controlled rectifier, dual converter fed dc motor drive

DC chopper drives: chopper control (motoring, regenerative braking etc),

Closed loop speed control of dc motor 1

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2. DC Machine Drives

 Solid State Control for DC drives

1. Phase controlled converter fed dc drives

Vs Vm sin(t ) (1.0)

Va , I a , V f , I f ?? How to generate control signal? 1

1
2. DC Machine Drives

 Solid State Control for DC drives

1. Phase controlled converter fed dc drives

Solid state control for dc drive

Vt Ra
  T
k k  2 (1) Armature resistance variation

 o   (2) Terminal voltage control (Vt)

(3) Field flux (field voltage control)

Attributes of good speed controller:
 Soft transition
 Sufficient speed damping
 Over-voltage must not exceed the tolerance limit of the system components
 The magnitude of the inrush current should be kept under control
 Natural electromechanical oscillations should be avoided.
1
2
2. DC Machine Drives

As the d.c. motor current, when fed from phase controlled a.c. - d.c.
converters, is not constant and a.c. supply current is not sinusoidal, adequate
performance indexes for the motor - converter combination should be
defined.
The main performance indexes related to the motor are:
· the torque - speed characteristic;
· nature of motor current - continuous or discontinuous;
· average motor current Ia:

If the supply voltage is a pure sinusoid only the fundamental of input current
will produce the mean input power and thus:

V I1 cos 1
PF 
V I
where: V - rms supply phase voltage;
I - rms supply phase current;
I1 - rms fundamental component of a.c. supply current;
j1 - angle between supply voltage and current fundamentals.
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2. DC Machine Drives

 Solid State Control for DC drives

· Input displacement factor DF or the fundamental power factor:

DF cos 
· Harmonic factor HF:


I 2  I12 n
I 2

n 2 In
HF   
I1 I1 I1
Ih - rms value of the net harmonic current.

1
4
2. DC Machine Drives

 Solid State Control for DC drives

1. Phase controlled converter fed dc drives
Circuit type Power Ripple Quadrant
range frequency operation

half below fs
wave 0.5KW
i
single
1
i
+

phase
L
e
~1
g

one quadrant
half
A
up to 3fs
wave 50KW
B
three phase
C

two quadrant
1
5
2. DC Machine Drives

 Solid State Control for DC drives

1. Phase controlled converter fed dc drives
semi - up to 2fs
converter 75KW
~
single
phase one quadrant
semi - up to 3fs
A
converter 100K
B
C
D
three phase W
one quadrant

Full up to 2fs
converter 75KW
single
~
phase
two quadrant
1
6
2. DC Machine Drives

 Solid State Control for DC drives

1. Phase controlled converter fed dc drives
full up to 6fs
A
converter 150K
B
C three phase W

two quadrant
Dual up to 2fs
converter 15KW
single
phase
~
~

four quadrant
Dual up to 6fs
converter 1500K
A
A
B
B
three phase W
C
C

four quadrant 1
7
2. DC Machine Drives

 Solid State Control for DC drives

<basic current limit control scheme>

1
8
2. DC Machine Drives

 Solid State Control for DC drives

<Closed loop torque control – basic blocks>

1
9
2. DC Machine Drives

 Solid State Control for DC drives

<Closed loop speed control – basic model>

2
0
2. DC Machine Drives January 2, 2018

 Continuous and Discontinuous Current Conduction Operations

 Transfer functions of the subsystems for DC Drives

DC motor and Load

Converter
Current and speed controllers
Current Feedback
Speed Feedback
 Design of controllers

Current Controller
First order approximation of inner current loop
Speed controller
 Two and four quadrants controller design 2
1
2. DC Machine Drives January 2, 2018

 Continuous and Discontinuous Conduction Operations

Consider a single phase fully controlled bridge converter driven dc motor

(To be discussed
via the book)

The input voltage is defined by Vs Vm sin t Vs  2Vs sin t 2

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2. DC Machine Drives

 Transfer functions of the subsystems for DC Drives

 DC machine contains an inner loop due to induced emf.

 It is not physically seen, it is magnetically coupled

 The inner current loop will cross this back emf loop, creating a complexity
in the development of the model. It is shown in Fig.
The interactions of these loops can be decoupled by suitably redrawing the
block diagram.
The development of such a block diagram for dc machine is shown below

Please note that, every motor drive need not to be speed controlled but may
need be torque controlled, such as for a traction application

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