Department Of Electrical& Electronics Engineering, VITS Indore 1

Vindhya Institute of Technology & Science, Indore

Name: - Roll No: -
Class: - Department: - Electrical &Electronics
Subject: -Solid State Controllers of Drives Subject Code: - MEPE 201
Signature of Student: - Signature of Professor:-
Experiment No: - 1
Objective:-
To study & analysis of Single Phase Fully Uncontrolled Rectifier Fed
DC Drive by using MATLAB.
Apparatus required:-
MATLAB, Simpower System Toolbox.
Theory:-
MATLAB:-
MATLAB (Matrix laboratory) is an interactive software system for numerical
computations and graphics. As the name suggests, MATLAB is especially designed for matrix
computations: manipulating arrays, solving systems of linear equations, computing Eigen values
and eigenvectors, factoring matrices, and so forth. In addition, it has a variety of graphical
capabilities: plotting data, creating animations, creating user interfaces, and can be extended
through programs written in its own programming language.
In order to simulate a model, the model is converted to a set of differential equations. The solver
functions are used to compute solutions for those equations at different time intervals, giving the
model's states and outputs over a span of time. You can then plot these outputs from your
simulation.
Department Of Electrical& Electronics Engineering, VITS Indore 2

Single Phase Fully Uncontrolled Rectifier:-
A single-phase full-wave rectifier consists of four
diodes arranged is called a bridge. This rectifier circuit produces an output waveform that is the
positive half of the incoming a voltage waveform and the inverted negative half.
The bias path for the positive output pulse is through diode D1, then the load, thenD4, and back
to the other side of the power supply. The current flow through the load is in the down direction
for the figure shown. Diodes D2and D3are reverse-biased during this part.
The bias path for the negative cycle of the input waveform is through diode D3, then the load,
thenD2, and back to the opposite side of the power supply. The current flow through the load
resistor is once again down. That is, it is flowing through the load in the same direction as during
the positive cycle of the input waveform. Diodes D1and D4 are reverse-biased during this part.
The resulting output waveform is a series of positive pulses without the gaps of the half-wave
rectifier output.
The split supply full wave single phase rectifier offers as good performance as possible from a
single phase rectifier in terms of the output voltage form factor and ripple factor. They have a
few disadvantages however. These are:-
>They require a split power supply which is not always available.
>Each half of the split power supply carries current for only one half cycle. Hence they are
underutilized.
>The ratio of the required diode PIV to the average output voltage is rather high.
The mathematical expression of DC output voltage is:-


Fig 1.1 Single phase uncontrolled full bridge rectifier with R, L, E load
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Rectifier Fed Dc Drives:-
In dc drives, the dc motor is controlled by the dc voltage V
0

applied to its terminals .the convertor consists of two bi-directional swicting power-poles,which
are pulse width modulated .allowing the power(and hence the current) through this convertor to
be bi-directional facilities the machine to operate both in motor & as well in its genertator
mode.in either direction of rotation ,in terms of average terminal quantities .motoring mode in
the forward direction rotation is represented by quadrant 1 with positive voltage & current while
rotating in the forward direction ,this machine can be slowed down by making the machine go
into its generator mode in which the power flow reverse ,as in quadrant 2 with a positive voltage
& a negative current. Motoing in the reverse direction of rotation requires voltage & current both
negative ,corresponding to quadrant 3 ,while rotating in the reverse direction ,the generator mode
in quadrant4 slows down the machine.

.
Fig1.2 Rectifier Fed Dc Drives

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Waveforms:-
I. Continuous Conduction Mode:-


II. Discontinuous Conduction Mode:-


Fig 1.3 Single phase uncontrolled full bridge rectifier waveforms

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Simulation & Result:-
Simulation

Fig 1.4 Single phase uncontrolled full bridge rectifier fed DC Motor (simulated diagram)

Parameter:-
Vi/p = 230 v
F = 50 Hz
R = 10
L = 0.7 H
E = 100V





Department Of Electrical& Electronics Engineering, VITS Indore 6

Result
1. Voltage waveform



2. Current Waveform


Fig 1.5 Output Voltage and Current Waveform
Conclusion:-


Department Of Electrical& Electronics Engineering, VITS Indore 7

Vindhya Institute of Technology & Science, Indore

Name: - Roll No: -
Class: - Department: - Electrical &Electronics
Subject: -Solid State Controllers of Drives Subject Code: - MEPE 201
Signature of Student: - Signature of Professor:-

Experiment No: - 2
Objective:-
To study & analysis of Single Phase Fully-Controlled Convertor Fed
DC Drive by using MATLAB.
Apparatus required:-
MATLAB, Simpower System Toolbox.
Theory:-
MATLAB:- MATLAB (Matrix laboratory) is an interactive software system for numerical
computations and graphics. As the name suggests, MATLAB is especially designed for matrix
computations: manipulating arrays, solving systems of linear equations, computing Eigen values
and eigenvectors, factoring matrices, and so forth.
In order to simulate a model, the model is converted to a set of differential equations. The solver
functions are used to compute solutions for those equations at different time intervals, giving the
model's states and outputs over a span of time. You can then plot these outputs from your
simulation.


Department Of Electrical& Electronics Engineering, VITS Indore 8

Single Phase fully-controlled Convertor
Single phase fully controlled converters are widely
used in many industrial applications. They can supply unidirectional current with both positive
and negative voltage polarity.
It is one of the most popular converter circuits and is widely used in the speed control of
separately excited dc machines. The single phase fully controlled bridge converter is obtained by
replacing all the diode of the corresponding uncontrolled converter by thyristors. Thyristors T
1
and T
2
are fired together while T
3
and T
4
are fired 180 after T
1
and T
2
. From the circuit diagram
it is clear that for any load current to flow at least one thyristor from the top group (T
1
, T
3
) and
one thyristor from the bottom group (T
2
, T
4
) must conduct. It can also be argued that neither
T
1
T
3
nor T
2
T
4
can conduct simultaneously.
For the same reason T
1
T
4
or T
2
T
3
can not conduct simultaneously. Therefore, the only possible
conduction modes when the current i
0
can flow are T
1
T
2
and T
3
T
4
. Of course it is possible that at
a given moment none of the thyristors conduct. This situation will typically occur when the load
current becomes zero in between the firings of T
1
T
2
and T
3
T
4
. Once the load current becomes
zero all thyristors remain off. In this mode the load current remains zero. Consequently the
converter is said to be operating in the discontinuous conduction mode


Fig 3.1 Single phase Fully-controlled convertor with R, L, E Load
Department Of Electrical& Electronics Engineering, VITS Indore 9


Convertor Fed Dc Drives:-
In dc drives, the dc motor is controlled by the dc voltage V
0

applied to its terminals .the convertor consists of two bi-directional swicting power-poles,which
are pulse width modulated .allowing the power(and hence the current) through this convertor to
be bi-directional facilities the machine to operate both in motor & as well in its genertator mode.
In either direction of rotation ,in terms of average terminal quantities .motoring mode in the
forward direction rotation is represented by quadrant 1 with positive voltage & crrent .while
rotating in the forward direction ,this machine can be slowed down by making the machine go
into its generator mode in which the power flow reverse ,as in quadrant 2 with a positive voltage
& anegative current.motoing in the reverse direction of rotation requires voltage & current both
negative ,corresponding to quadrant 3 ,while rotating in the reverse direction ,the generator
mode in quadrant4 slows down the machine.

.
Fig3.2 Convertor Fed Dc Drives


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Waveforms:-
III. Continuous Conduction Mode:-


IV. Discontinuous Conduction Mode:-

Fig 3.3 Single phase Fully-controlled convertor waveforms
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Simulation & Result:-
Simulation

Fig 3.4 Single phase fully controlled converter fed dc drive (simulated diagram)
Parameter:-
Vi/p = 230 v
F = 50 Hz
R = 10
L = 0.7 H
E = 100V

Department Of Electrical& Electronics Engineering, VITS Indore 12

Result
1. Voltage Waveform


2. Current Waveform



Fig 3.5 Output Voltage & Current Waveform
Conclusion :-



Department Of Electrical& Electronics Engineering, VITS Indore 13

Vindhya Institute of Technology & Science, Indore

Name: - Roll No: -
Class: - Department: - Electrical &Electronics
Subject: -Solid State Controllers of Drives Subject Code: - MEPE 201
Signature of Student: - Signature of Professor:-

Experiment No: - 3
Objective:-
To study & analysis of Single Phase Semi-controlled Convertor Fed
DC Drive by using MATLAB.
Apparatus required:-
MATLAB, Simpower System Toolbox.
Theory:-
MATLAB:- MATLAB (Matrix laboratory) is an interactive software system for numerical
computations and graphics. As the name suggests, MATLAB is especially designed for matrix
computations: manipulating arrays, solving systems of linear equations, computing Eigen values
and eigenvectors, factoring matrices, and so forth.
In order to simulate a model, the model is converted to a set of differential equations. The solver
functions are used to compute solutions for those equations at different time intervals, giving the
model's states and outputs over a span of time. You can then plot these outputs from your
simulation.


Department Of Electrical& Electronics Engineering, VITS Indore 14

Single Phase Semi-controlled Convertor
A single phase semi converter feeds the armature
circuit. it is a one quadrant drive and is limited to application up to 15KW.the converter in the
field circuit can be a semiconverter.the current waveforms for a highly inductive load.
The complexity of the circuit is not reduced, however. For that, two of the thyristors of a single
phase fully controlled converter has to be replaced by two diodes as shown in Figure2.1. The
resulting converters are called single phase half controlled converters. As in the case of fully
controlled converters, the devices T
1
and D
2
conducts in the positive input voltage half cycle after
T
1
is turned on. As the input voltage passes through negative going zero crossing D
4
comes into
conduction commutating D
2
in Figure2.1. The load voltage is thus clamped to zero until T
3
is
fired in the negative half cycle. As far as the input and output behavior of the circuit is concerned
the circuits in Figure are identical although the device designs differs. However, in this Figure
both the thyristors and the diodes carry current for half the input cycle.



Fig 2.1 Single phase Semi-controlled convertor with R, L, E load



Department Of Electrical& Electronics Engineering, VITS Indore 15

Convertor Fed Dc Drives:-
In dc drives, the dc motor is controlled by the dc voltage V
0
applied to its
terminals .the convertor consists of two bi-directional swicting power-poles,which are pulse
width modulated .allowing the power(and hence the current) through this convertor to be bi-
directional facilities the machine to operate both in motor & as well in its genertator mode.

.Fig2.2 Convertor Fed Dc Drives
Waveforms:-
V. Conduction Mode:-


Department Of Electrical& Electronics Engineering, VITS Indore 16

VI. Discontinuous Conduction Mode:-


Fig 2.3 Single phase Semi-controlled convertor waveforms



Department Of Electrical& Electronics Engineering, VITS Indore 17


Simulation & Result:-
Simulation

Fig 2.4 Single phase uncontrolled full bridge converter fed DC Motor (simulated diagram)
Parameter:-
Vi/p = 230 v
F = 50 Hz
R = 10
L = 0.7 H
E = 75 V


Department Of Electrical& Electronics Engineering, VITS Indore 18

Result
1. Voltage Waveform


2. Current waveform


Fig 2.5 Output Waveform
Conclusion :-




Department Of Electrical& Electronics Engineering, VITS Indore 19

Vindhya Institute of Technology & Science, Indore
Name: - Roll No: -
Class: - Department: - Electrical &Electronics
Subject: -Solid State Controllers of Drives Subject Code: - MEPE 201
Signature of Student: - Signature of Professor:-

Experiment No: - 4

Objective:-
Simulation and Modeling of DC Motor are using MATLAB.
Apparatus Required: - Software MATLAB Toolbox.
Theory: -
About MATLAB Software-:
MATLAB is a programming environment for algorithm development, data analysis,
visualization, and numerical computation. Using MATLAB, you can solve technical computing
problems faster than with traditional programming languages, such as C, C++, and FORTRAN.
MATLAB is a high-performance language for technical computing. It integrates computation, visualization, and
programming in an easy-to-use environment where problems and solutions are expressed in familiar
mathematical notation


About Speed Control of DC Motor-The DC motor input armature voltage (Vt) summed with
the internal EMF. The result is then fed into the electrical characteristics transfer function block
Department Of Electrical& Electronics Engineering, VITS Indore 20

to produce the armature current (Ia). It is then pass through a torque constant to produce torque.
This is then summed with a torque load, giving an output torque which is then fed into the
mechanical characteristics transfer function block. The output is the rotor speed (Wm), which is
fed back into the speed constant providing the constant EMF.
DC motors are used to drive mechanical loads. Some applications require that the speed remain
constant as the mechanical load is applied to the motor changes. On the other hand, some
applications require that the speed be controlled over a wide range. The speed equation of DC
Motor is;


Simulation Model:-

Result:-
Department Of Electrical& Electronics Engineering, VITS Indore 21




Q.1 Write a mathematical expression for speed control method of DC Motor.







Q.2 Find the transfer function of DC Motor.





Department Of Electrical& Electronics Engineering, VITS Indore 22

Vindhya Institute of Technology & Science, Indore

Name: - Roll No: -
Class: - Department: - Electrical &Electronics
Subject: -Solid State Controllers of Drives Subject Code: - MEPE 201
Signature of Student: - Signature of Professor:-

Experiment No: - 5
Objective: - Simulation of DC Motor using 3-phase fully controlled converter with PSIM 9.1

Apparatus Required: - Software PSIM 9.1, Power Electronics & Drive Toolbox.

Theory: -
About PSIM Software- PSIM is the leading simulation and design software for power
electronics, motor drives, and dynamic system simulation. With fast simulation and easy-to-use
interface, PSIM provides a powerful and efficient environment to meet your simulation needs.
About Three Phase full converter-The three phase fully controlled converter has been probably
the most widely used power electronic converter in the medium to high power applications. The
controlled rectifier can provide controllable output dc voltage in a single unit instead of a three
phase. The controlled rectifier is obtained by replacing the diodes of the uncontrolled
rectifier with thyristors. Control over the output dc voltage is obtained by controlling the
conduction interval of each thyristor. This method is known as phase control and converters
are also called phase controlled converters. Since thyristors can block voltage in both
directions it is possible to reverse the polarity of the output dc voltage and hence feed power
back to the ac supply from the dc side.
In phase controlled rectifiers though the output voltage can be varied continuously the load
harmonic voltage increases considerably as the average value goes down. Of course the
magnitude of harmonic voltage is lower in three phase converter compared to the single phase
Department Of Electrical& Electronics Engineering, VITS Indore 23

circuit. Since the frequency of the harmonic voltage is higher smaller load inductance leads to
continuous conduction. Input current wave shape become rectangular and contains 5
th
and
higher order odd harmonics.


Simulation Model:-






Department Of Electrical& Electronics Engineering, VITS Indore 24


Results:-



Department Of Electrical& Electronics Engineering, VITS Indore 25

Vindhya Institute of Technology & Science, Indore

Name: - Roll No: -
Class: - Department: - Electrical &Electronics
Subject: -Solid State Controllers of Drives Subject Code: - MEPE 201
Signature of Student: - Signature of Professor:-

Experiment No: - 6
Objective: - Simulation of DC Series Motor using 1-phase Semi controlled Rectifier with
PSIM 9.1
Apparatus Required: - Software PSIM 9.1, Power Electronics & Drive Toolbox.
Theory: -
About PSIM Software-
PSIM is the leading simulation and design software for power electronics, motor drives, and
dynamic system simulation. With fast simulation and easy-to-use interface, PSIM provides a
powerful and efficient environment to meet your simulation needs.
About Semi converter Control of DC Motor-
A single phase semi converter feeds the armature circuit. it is a one quadrant drive and is limited
to application up to 15KW.the converter in the field circuit can be a semiconverter.the current
waveforms for a highly inductive load.
A single phase semi converter bridge with two thyristor and three diodes as shown in figure
alongside the two thyristor are T1, T2 ; The two diodes are D1,D2 the third diode connected
across load is freewheeling diodes FD. The load is of RLE type. Various voltage and current
waveforms for this converter are shown in fig. where load current is assumed continuous over
the working range.
Department Of Electrical& Electronics Engineering, VITS Indore 26

Working - At 0 t e = thyristor T1 is forward biased only when source voltage exceeds E. thus,
T1 is triggered at a firing angle delay such that sin Vm E o > .with T1 on, load gets connected to
source through T1 and D1 for period t e o = to t load current Io flows through RLE, D1
,source and the load terminal voltage Vo is of the same wave shape ac the source voltage Vs.
soon after t e t = ,load voltage Vo tends to reverse as the ac source voltage changes polarity
just as Vo tends to reverse(at t e t = + ) ,FD is forward biased and starts conducting. The load
or output current Io is transferred from T1, D1 to FD. As SCR T1 is reversed biased at t e t = +
through FD, T1 is turned off at t e t = + .the load terminals are short circuited through FD;
therefore load, or output, voltage Vo is zero during ( ) t t e t o < < + . after t e t = ,during the
negative half cycle .T2 will be forward biased only when source voltage is more than E.
t e t o = + at ,source voltage exceeds E, T2 is therefore triggered .soon after ( ) t o + , FD is
reverse biased and is therefore turned off; load current now shift from FD to T2 ,D2 . At 2 t e t = ,
FD is again forward biased and output current Io is transferred from T2, D2 to FD. The source
current I
s
is positive from tot when T1, D1 conduct and is negative from ( ) t o + to 2t when
T2, D2 conduct.
During the interval o to t T1 and D1 conduct and ac source delivers energy to the load circuit.
This energy is partially stored in inductance L< partially stored as electric energy in load _circuit
emf E and partially stored as freewheeling period t to ( ) t o + energy stored in inductance is
recovered and is partially dissipated in R and partially added to the energy stored in load emf e.
no energy is fed back the source during freewheeling period.
(1 cos )
m
V
Vo o = +
H

Simulation Model:-

Department Of Electrical& Electronics Engineering, VITS Indore 27

Results:-



Department Of Electrical& Electronics Engineering, VITS Indore 28

Q.1 Why semi converter is also known as the semi controlled converter.





Q.2 Write down the advantages of freewheeling diode.






Q.3 Write down the mathematical expression for output Voltage, Output current, Harmonic
Analysis for Semi converter.










Department Of Electrical& Electronics Engineering, VITS Indore 29

Vindhya Institute of Technology & Science, Indore

Name: - Roll No: -
Class: - Department: - Electrical &Electronics
Subject: -Solid State Controllers of Drives Subject Code: - MEPE 201
Signature of Student: - Signature of Professor:-

Experiment No: - 7

Objective: - Simulation of DC Series Motor using 1-phase fully controlled converter with
PSIM 9.1
Apparatus Required: - Software PSIM 9.1, Power Electronics & Drive Toolbox.
Theory: -
About PSIM Software- PSIM is the leading simulation and design software for power
electronics, motor drives, and dynamic system simulation. With fast simulation and easy-to-use
interface, PSIM provides a powerful and efficient environment to meet your simulation needs.
About Full Converter Control of DC Motor-
Full converter control of DC Motor is also called phase-angle controlled drive.
1. By changing the firing angle, variable DC output voltage can be obtained.
2. Single phase (low power) and three phase (high and very high power) supply can be used.
3. 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.
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In the 1-phase full controlled rectifier, Ls is source inductance .the load current is assumed
constant. When terminal 1 of source voltage Vs is positive current I1 flows through Ls , T1, load
and T2 this is shown as V1, Ls ,T1T2 and load similarly when terminal 2 Vs is positive load
current I2 flows through T3, load T4 this is shown as V2 , Ls T3 T4 and load. When T1 T2 are
triggered at a firing angle the commutation of already conducting thyristor T3, T4 begins.
Because of presence of source inductance Ls the current through out going device T3,T4
decreases gradually to zero from its initially value of I
0
where as an incoming thyristor T1,T2 the
current build up gradually from zero to full value from load current I
0
. The output voltage of full
converter is:
cos 0
m
V
Vo for o o = s s H
H

Simulation Model:-





Department Of Electrical& Electronics Engineering, VITS Indore 31

Results:-




Department Of Electrical& Electronics Engineering, VITS Indore 32

Q.1 Why fully controlled converter is batter then semi controlled converter.



Q.2 Write down the mathematical expression for continuous conduction and discontinuous
conduction of fully controlled converter fed DC Drives.





Q.3 Write down the mathematical expression for output Voltage, Output current, Harmonic
Analysis for Full converter.












Department Of Electrical& Electronics Engineering, VITS Indore 33

Vindhya Institute of Technology & Science, Indore

Name: - Roll No: -
Class: - Department: - Electrical &Electronics
Subject: -Solid State Controllers of Drives Subject Code: - MEPE 201
Signature of Student: - Signature of Professor:-
Experiment No: - 8
Objective: - Simulation of DC Series Motor using 3-phase semi controlled converter with
PSIM 9.1

Apparatus Required: - Software PSIM 9.1, Power Electronics & Drive Toolbox.

Theory: -
About PSIM Software- PSIM is the leading simulation and design software for power
electronics, motor drives, and dynamic system simulation. With fast simulation and easy-to-use
interface, PSIM provides a powerful and efficient environment to meet your simulation needs.

About 3-phase Semi converter Control of DC Motor- For 3-phase semiconductor feeding a
separately exited dc motor. The field winding of the motor is also connected to 3 phase
semiconductor. This drive offer one quadrant operation and is used up to about 115 KW rating.
On the assumption of continuous and ripple free armature current wave form for line current Ia
and thyristor current IT1. For firing angle =30 and also for =90.An examination of these wave
form would reveals that inform firing angle 60, each thyristor conductor for 120 and
For 60<<180, each thyristor conductor for (180-)
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In 3-phase semi controlled rectifier circuit T1 T2 T3 are thyristor and D1 D2 D3 are diodes, and
RLE load is connected.
The output voltage V across the load terminal is controlled by varying the firing angle of SCRs
T1 T2 and T3. The diode D1 D2 and D3 provide a return path for the current to the most
negative line terminal.
The firing angle delay of =0, Thyristor T1 T2 T3 acts as a diode and the output voltage of semi
converter would be symmetrical 6 pulse per cycle.
For semi converter in the armature circuit, the average output voltage, from Equation is given by

H s s +
H
= = o o 0 for ) cos 1 (
3
0
m
t
V
V V

Simulation Model:-

Department Of Electrical& Electronics Engineering, VITS Indore 35

Results:-

Department Of Electrical& Electronics Engineering, VITS Indore 36

Q.1 Write a mathematical expression for speed control of DC Motor with transient and steady
state analysis.








Q.2 Draw the block diagram of DC Motor control with Semi-control converter.















Department Of Electrical& Electronics Engineering, VITS Indore 37