Unit-II

Control of DC motors by
single phase Converters
Dr. Obbu Chandra Sekhar
Associate Professor
NIT Delhi
Introduction:-
• In many of industrial applications, an electric motor is the most important
component. A complete production unit consists of three basic components.
1. An electric motor
2. Energy-transmitting device.
3. Working/driven machine.

→An electric motor is the source of motive power.

→An energy transmitting device delivers power from electric motor to the driven
machine (or load) Ex - Shaft, belt, rope, chain etc.
→A working machine is the driven machine that performs the required production
process. Ex - Lathes, centrifugal pump drilling machines, lifts, conveyer belts, food-
mixers etc.
• Electric drive:- An electric motor together with its control equipment
and energy- transmitting device forms an electric-drive.
• Electric-drive system:- An electric drive together with its working
machine constitutes an electric drive system.
• Ex: A ceiling fan motor with its speed regulator but without blades is
an example of electric drive and the ceiling fan motor with its speed
regulator with blades is electric drive system.
Block diagram of an Electric Drive-
• The following figure shows the block diagram of an electric Drive
which consists of mainly four modules.
• Modules (i) Load (ii) Motor (iii) Power modulator, and (iv) Source.
Also, there are two more modules which forms a closed loop. They are
sensing unit and control unit. All the blocks are described in detailed
as follows.
(i) Load:- Load is usually a machinery designed to accomplish a given
task. Ex. fans, pumps, robots, washing machines, machine tods, trains
and drills. Usually a load requirements can be specified in terms of
speed and torque demands.
(ii) Motor:- A Electric motor is a machine which converts electrical
Energy to mechanical Energy. The motor having speed-torque
characteristics and capabilities compatible to the load requirements is
chosen.
(iii) Power modulator:-
• The power modulator performs the following functions.
1) Modulates the power from source to the motor in such a manner that motor is imparted Speed-
torque characteristics required by the load.
2) During transient operations, such as starting, braking and speed reversal, it restricts source and
motor currents with in permissible values.
3) Converts electrical energy of the source in the form suitable to the motor. Ex - If the source is DC
and Induction Meter is to be employed, then power modulator is required to convert dc in to variable
AC.
4) Selects the mode of operation of motor i.e. braking of motoring
(5) Source: Here source is of electrical energy available in any form like DC or AC.
(6) Control Unit: - Controls for power modulator are built in control unit which usually operates at
much lower Voltage and power levels. Input command signal, which adjusts the operating point of the
drive, forms an input to the control unit.
(7) Sensing unit:- Sensing of certain drive parameters, such as water current and speed, may be
required either protection or for closed loop operation.
Advantages of Electric Drive:-
1. They have Flexible control characteristics.
2. They are available in wide range of torque, Speed and power.
3. Electric motors have high efficiency, low no load losses and considerable
short time over loading capability. Compared to other prime movers they
have longer life, lower noise, lower maintenance requirements and cleaner
operation.
4. They are adaptable to almost any operating conditions such as explosive
and radioactive environment, Submerged in liquids, vertical mountings and
soon.
5. Do not pollute the environment.
6. Can operate in all four quadrants of speed-torque plane. Electric
braking gives smooth deceleration & Increases life of the equipment
compared to other forms of braking. When regenerative braking is
possible considerable saving of energy is achieved. These features are
not available in other prime movers.
7. There is no need to refuel (or) warm-up the motor.
8. They are powered by electrical energy, which has a no: of advantages
like easy in transmission, generation, conversion of energies from one
form to other etc.
DC motors and their performance Characteristics:-
• In General, the De motors used in many applications are
ⅰ) DC Separately excited motor
ii) DC Series mode

Basic Equations of DC motor in steady state:-

• In steady state, the separately Excited DC motor is represented in
fig(2) shown below, with armature in series with it internal resistance
Ra connected to a supply of voltage 'V'.
 Fig (3) Separately Excited dc motor Fig (2)
Εb ∝ ϕωm, Εb = Keϕωm …………….. (1)
Applying KVL, V = Eb + IaRa ………………… (2)
The Torque Equation is, Te = KeϕIa …………… (3)
Substituting values of (1) & (3) in equation (2), the Speed Expression is
𝑅𝑎 .𝑇𝑒
V = keϕωm - ………. (4)
𝐾𝑒ϕ

From Eq. (4) ωm is given by

 𝑉 𝑅𝑎 .𝑇𝑒
ωm = - …………… (5)
𝐾𝑒 ϕ (𝐾𝑒 ϕ)2

Where ωm= Angular Speed in rad/sec

• V = Supply voltage in volts.
• Te = Electromagnetic torque in N-m
• Ra = Armature resistance in Ampere
• Ke = Proportionality constant i.e. motor constant
• ϕ = Flux in Webers
→For Separately Excited DC motors flux 'ϕ' is constant,
• Keϕ = K (constant), replacing Keϕ with K in equation (5); Speed ωm for
separately excited motors is given as
 𝑉 𝑅𝑎 𝑇𝑒
ωm = - …………….. (6)
𝐾 𝐾2

• The Torque & back emf values, are given by

Te = KIa ………………….. (7)
Eb = Kωm ………………… (8)
• Thus from Eq. (7) and Eq. (6) the mechanical and Electrical
characteristics are drawn and is shown in Fig. (4)
In DC Series motor
• ϕ ∝ If; ϕ = Kf If; ϕ = Kf Ia …………. (9)
• Now, substituting ϕ = Kf Ia in Torque expression.
• Te = KeϕIa Te = KeKfIa2…….…. (10)
𝑇𝑒
• Ia = ……….. (11)
𝐾𝑒 𝐾𝑓

• On substituting Eq. (11) in Speed Expression

𝑉 𝑅𝑎 𝑇
• ω𝑚 = −
ϕ𝐾𝑒 (𝐾𝑒 ϕ)2
 𝑉 𝑅𝑎 𝐾𝑒 𝐾𝑓 𝐼𝑎𝑟
• ωm = -
𝐾𝑒 𝐾𝑓 𝐼𝑓 𝐾𝑒 𝐾𝑓 𝐼𝑟

𝑉 𝑅𝑎
• ωm = -
𝐾𝑒 𝐾𝑓 𝐼𝑎 𝐾𝑒 𝐾𝑓

𝑉 𝑅𝑎
• ωm = - ………… (12)
√(𝐾𝑒 𝐾𝑓 )√𝑇 𝐾𝑒 𝐾𝑓

• From Eq. (10) and Eq. (12) T 𝑣𝑠 Ia and N 𝑣𝑠 T are drawn as

• Speed Control: The speed of the DC motor is controlled by varying, Va
/ ϕ, / Ra parameters. Thus, the methods of speed control are as follows
(i) Armature voltage control
(ii) Field / Flux control
(ii) Armature resistance Control (not used because of power wastage)
(i). Armature voltage control for separately & Series motor

(ii) Field / Flux control

Torque and power characteristics with respect to ωm:-
(i) Armature voltage control (ωm control is done at below base Speeds)
(ii) Field control method (ωm control is done for above base speeds)
→ Armature voltage control is not applicable for above base Speeds because
the voltage applied should be greater than rated voltage, there large voltages
(>Vr) the insulation will the breakdown. So due to insulation limitation
Speeds above are not controlled with Va control.
→ Armature voltage control is also known as Constant Torques (or) variable
power methods. < ωm Speeds are control.
→Field Control method is also known as constant power (or) variable Torque
method and >ωm speeds are controlled.
For Separately excited motors: For Series motor:
1ϕ Fully Controlled rectifier control of DC separately Excited motor:-
• Vs = Vmsinωt = 1ϕ AC supply voltage in volts
• is = Source current
• Va = Average DC Voltage applied to armature
• Iq = Average DC current in motor
• E = back emf in motor
• The motor load is represented as RLE elements. The motor is fed from 1ϕ AC
Supply via 1ϕ fully controlled rectifier.
→For proper operation of the rectifier the firing angle α should the greater
-1 𝐸
than θ1, = Sin (𝑉 ) so that Vmsinωt > E making T1, T2 in positive half cycle
𝑚
as forward biased and conducts form α onwards fully. T3 & T4 Conducts
during negative half cycle.
• This rectifier fed dc motor can be operated in two regions namely motoring
mode (I Quadrant) and reverse braking (IV Quadrant).
• Since SCR’s (unidirectional switches) are used so current is considered as
only one direction with two possible voltages (Hence I & IV Quadrants in
Va-Ia plane are considered). The motor based on firing angle and load angle
can be operated in two models of conduction.
i) Discontinues mode of operation
ii) Continuous mode of operation
i) Discontinues mode of operation:- (α > ϕL) & (L< LC)
Continuous mode of conduction (α < ϕL) & (L>LC), [α <90]
Analysis in Discontinuous mode of operation:-
• From, the waveforms of discontinuous operation, the voltage equation of a
𝑑𝑖𝑎
DC motor is V= E + IaRa + La 𝑑𝑡 . The Solution for the above differential
equation is given by
ia(t) = iss1 + iss2 + it1; where,
• iss1 = Steady state current with V = Vmsinωt alone; making ‘E’ as zero.
𝑣𝑚
• (𝑖𝑒 )𝑖𝑠𝑠1 = 𝑧
sin ωt − ϕ ,
−𝐸
• iss2 = Steady state current with E alone, making V = 0, iss2 = 𝑅𝑎

• it(1) = Transient Component of armature current

 −𝑡
𝐿
τ
• it1= K1𝑒 & τ =
𝑅
−𝑡𝑅
• it1 = K1𝑒 𝐿

−𝑡𝑅
𝑉𝑚 𝐸
• ia(t) = sin ωt − ϕ – + 𝐾1 𝑒 𝐿 …………….. (1)
𝑧 𝑅𝑎

• For constant K, Substitute the initial condition, at ωt = α i.e. at ωt = α,

𝛼
ia(α) = 0 & t =
𝜔
−𝑅𝛼
𝑉𝑚 𝐸
• ia(α) = 0 = sin 𝛼 − ϕ – + 𝐾1 𝑒 𝜔𝐿
𝑧 𝑅𝑎
 −Vm E Rα
• K1 = [ sin α−ϕ + ]eωL
z Ra

• Substituting K, in eq. (1) then ia(t) is given by

−R(ωt−α)
Vm E E vm
• ia(t) = [sin ωt − ϕ – + [ - sin α − ϕ ]e ωL
z Ra Ra z

Vm −cotϕ (ωt−α) E −cotϕ (ωt−α)

• ia(t) = [sin ωt − ϕ − sin α − ϕ e ]+ [e − 1]
z Ra

β
• At ωt = β, ia(β) = 0 and t = ω

Vm −cotϕ (β−α) E
• 0= [sin β − ϕ − sin α − ϕ e ] + R [e−cotϕ (β−α) − 1]
z a
• In the above expression, Vm, z, ϕ, E & α are known values and β is the
unknown parameter, Thus through iterative methods β is found. From
the above expression.
• Now, knowing the values of α and β, the average dc voltage supplied
by the fully controlled rectifier to the armature of dc motor can be
found as follows.
• Va = dc average value applied to motor
1 β π+α
• Va = { α Vm sin ωt
dωt + β
Edωt}
π
𝑉𝑚 𝛽 E
Va = [−𝑐𝑜𝑠ωt]𝛼 + [ωt]π−𝛼
𝛽
π π
 𝑉𝑚 E
• Va = [𝑐𝑜𝑠𝛼 − cosβ] + [π + 𝛼 − β]
π π
• Substituting this Va in 𝜔𝑚 expression derived before
𝑉𝑎 𝑇𝑅𝑎
• 𝜔𝑚 = −
K 𝐾2
𝑉𝑚 E 𝑇𝑅𝑎
• 𝜔𝑚 = 𝑐𝑜𝑠𝛼 − cosβ + π+𝛼−β −
πK πK 𝐾2
𝑉𝑚 K𝜔𝑚 𝑇𝑅𝑎
• 𝜔𝑚 = 𝑐𝑜𝑠𝛼 − cosβ + π+𝛼−β − , ( E = K𝜔𝑚 )
πK πK 𝐾2
(π+𝛼−β) 𝑉𝑚 𝑇𝑅𝑎
• 𝜔𝑚 [1- ]= 𝑐𝑜𝑠𝛼 − cosβ −
π πK 𝐾2
(𝛽−𝛼) 𝑉𝑚 𝑇𝑅𝑎
• 𝜔𝑚 = = 𝑐𝑜𝑠𝛼 − cosβ −
π πK 𝐾2
𝑉𝑚 𝑇𝑅𝑎 π
• 𝜔𝑚 = 𝑐𝑜𝑠𝛼 − cosβ − …….. (2)
K(𝛽−𝛼) 𝐾 2 (𝛽−𝛼)
• Thus at ideal no load operation Iq= 0 => T= 0 and for firing angle (α) =
Vm π
0 case; the speed at no load is given by ωm0 = for 0 ≤ α ≤
πK 2
• This Ia = 0 happens when …………………….. Fail to conduct, which
π
happens when E (back emf) is greater than 𝑉𝑚 for 0 ≤ α ≤ and for
π 2
firing angles, ≤ α ≤ π, the current is zero. Only when E is greater
2
than Vmsinωt.
Vm π
• Thus, ωm0 = for 0 ≤ α ≤
K 2
Vm sinα π
• ωm0 = for ≤ α ≤ π
K 2
• Expression for ωm in continuous mode of operation is given by
𝑉 𝑇𝑅𝑎 2Vm cosα 𝑇𝑅𝑎
• 𝜔𝑚 = − 2 𝜔𝑚 = − 2
K 𝐾 πK 𝐾
 2Vm
• Thus at no load T = 0 & 𝛼 =0, the speed ωm =
πK

• Thus the boundary condition for continuous & discontinuous is obtained by

substituting 𝛽 = π + 𝛼 in current expression of 𝑖𝑎 𝛽
Vm −cotϕ (π+α−α) E
• 0= z
[−sin π + α − ϕ − sin α − ϕ e ] + R [e−cotϕ(π+α−α) − 1]
a
• 0 = Vzm [−sin α − ϕ − sin α − ϕ e−πcotϕ ] + RE [e−πcotϕ) − 1]
a
Vm E
• {[sin α − ϕ [1 + e −πcotϕ
]= [e −πcotϕ)
− 1]
z Ra
 Kω𝑚𝑐 −πcotϕ E
• {[sin α − ϕ [1 + e ]= [e−πcotϕ) − 1]
𝑅𝑎 Ra
Vm 𝑅𝑎 1+𝑒 −πcotϕ
• ω𝑚𝑐 = sin α − ϕ [ ]
z 𝑧 𝑒 −πcotϕ −1

• Explanation of speed-Torque expressions:-

• Continuous mode of operation:- For a given α, the increase in torque
causes ωm & E to drop so that Ia & T can increase.
• Average terminal voltage Va remains constant.
• Discontinuous mode:- The increase in torque & increase in Ia causes
𝛽 to increase and Va to drop. Thus the speed drops by a larger amount.
Thus the effect of discontinuous conduction is to make poor speed
regulation.
Va -𝛼 curve:
α < 90°
Forward motoring mode
I - Quadrant (ω − T plane)

α > 90°
Reverse reparative brakingmotoring mode
IV - Quadrant (ω − T plane)
Equivalent circuit of drive in various mode

Two quadrant operation of the drive

• The unidirectional current i.e. current flows only in one direction due
to usage of unidirectional switches, that is why 𝐼𝑎 is in same direction
in both cases. Due to change in 𝑉𝑎 , E changes so that ω𝑚 direction is
reversed reducing the speed of drive (braking).
Performance Parameters of 1∅ Full Converter
2𝑉𝑚
• Average DC Voltage 𝑉𝑎 = cos 𝛼
𝜋
• RMS Value of source current 𝐼𝑆𝑟 = 𝐼𝑎
𝐼𝑎
• RMS value of Thyristor current 𝐼𝑇𝑟 =
2
2𝑉𝑚
𝑉𝑎 ∗𝐼𝑎 cos 𝛼∗𝐼𝑎
• Input Supply power factor = = 𝜋
𝑉𝑚
𝑉𝑏 ∗𝐼𝑆𝑟 ∗𝐼
2 𝑎
2 2
∴ Supply Power Factor = cos 𝛼.
𝜋
Problem
1. A 200V, 875 RPM, 150A separately excited DC Motor has an armature
resistance of 0.06Ω. It is fed from a 1∅ fully controlled rectifier with an AC
source voltage of 220V, 50Hz. Assuming continuous conduction, calculate
i. Firing angle for rated motor torque and 750 RPM.
ii. Firing angle for rated motor torque and (-500 RPM).
iii. Motor speed for ∝=160° and rated torque.
Solution:
Since the motor is operated at rated torque in all the cases, the armature current is therefore a rated
value i.e., (150A) in all the cases.
Back EMF with rated condition
𝐸𝑏𝑟𝑎𝑡𝑒𝑑 = 200 − 150 ∗ 0.06 = 191𝑉
⸫ 191V is back emf at
𝑁𝑟𝑎𝑡𝑒𝑑 = 875𝑟𝑝𝑚
i. ⸫𝐸𝑏 at 750 RPM is
𝐸𝑏 ∝ 𝑁
𝐸𝑏(750) 750
=
𝐸𝑏(875) 875
750
𝐸𝑏(750) = × 191 = 163.71𝑉
875
𝑉𝐺(750) = 𝐸𝑏(750) +𝐼𝑎 𝑅𝑎 = 163.71 + 150 ∗ 0.06 = 172.71𝑉
This 𝑉𝑎 of 172.71V is obtained from the 1∅ full converter whose output voltage expansion is
2𝑉𝑚 2× 2×220
𝑉𝑎 = cos 𝛼 = 172.71 = cos 𝛼
𝜋 𝜋
cos 𝛼 = 0.8719
∴ 𝛼 = 29.3°
ii. 𝐸𝑏 at (-500 RPM) is given by
𝐸𝑏(−500) −500
=
𝐸𝑏(875) 875
−500
⸫ 𝐸𝑏(−500)= 875 ∗ 191 = −109.14𝑉
𝑉𝑎(−500) = 𝐸𝑏(−500) + 𝐼𝑎 𝑅𝑎 = 109.14 + 150 ∗ 0.06
𝑉𝑎(−500) = -100.14V
2𝑉𝑚
𝑉𝑎 = 𝜋 cos 𝛼
−100.14∗𝜋
cos 𝛼 = = −0.0505
2∗ 2∗220
−1
∴ 𝛼 = cos −0.505 = 120.37°

2𝑉𝑚 2× 2×220
iii. 𝑉𝑎 is 𝜋
cos 𝛼 = 𝜋
cos 160° = −186.12𝑉
𝑉𝑎(𝛼=160°) = 𝐸𝑏 + 𝐼𝑎 𝑅𝑎
∴ 𝐸𝑏(𝛼=160°) = −186.1 − 150 ∗ 0.06 = −195.12𝑉
𝐸𝑏(∝=160°)𝑁 𝛼=160°
= 𝑁
𝐸𝑏(875) 𝑟𝑎𝑡𝑒𝑑
−195.12
𝑁 𝛼=160° = 191 ∗ 875 = −893.89 𝑅𝑃𝑀
Single Phase Fully Controlled Converter fed DC Series motor

𝑉 = 𝑉𝑚 sin 𝜔𝑡
𝑅 = 𝑅𝑎 + 𝑅𝑓
𝐿 = 𝐿𝑎 + 𝐿𝑓
𝐸 = 𝐸𝑏
Where 𝑅𝑎 = armature resistance
𝑅𝑓 = Series field resistance
𝐿𝑎 = Armature inductance
𝐿𝑓 = Series Field inductance
The general expression for DC series motor is
i. On applying KVL to the motor loop
𝑑𝐼𝑎
𝑉𝑎 = 𝐸𝑏 + 𝐼𝑎 𝑅𝑎 + 𝑅𝑓 + 𝐿𝑎 + 𝐿𝑓
𝑑𝑡
𝑑𝐼𝑎
𝑉𝑎 = 𝐸𝑏 + 𝐼𝑎 𝑅𝑎 + 𝐿 ...................(1)
𝑑𝑡
ii. The flux in the motor consists of two components
a. Flux due to filed current ∅𝑓
b. Flux due to residual ∅𝑟𝑒𝑠
∴ ∅𝑡𝑜𝑡𝑎𝑙 = ∅𝑓 + ∅𝑟𝑒𝑠
Also ∅𝑓 ∝ 𝐼𝑎
∅𝑓 ∝ 𝐾𝑓 𝐼𝑎
iii. Back emf 𝐸𝑏 ∝ ∅𝜔𝑚 𝐸𝑏 = 𝐾𝑒 ∅𝜔𝑚
𝐸𝑏 = 𝐾𝑒 𝐾𝑓 𝐼𝑎 + ∅𝑟𝑒𝑠 𝜔𝑚 𝐸𝑏 = 𝐾𝑒 𝐾𝑓 𝐼𝑎 𝜔𝑚 + 𝐾𝑒 𝜔𝑚 ∅𝑟𝑒𝑠
𝐸𝑏 = 𝐾𝑓𝑒 𝐼𝑎 𝜔𝑚 + 𝐾𝑒 𝜔𝑚 ∅𝑟𝑒𝑠 …………….(2)
Substituting equation (2) in equation (1), the armature voltage (𝑉𝑎 ) is given by
𝑉𝑎 = 𝐾𝑒𝑓 𝐼𝑎 𝜔𝑚 + 𝐾𝑒 ∅𝑟𝑒𝑠 𝜔𝑚 + 𝐼𝑎 𝑅 in steady state
∴ The expression for speed 𝜔𝑚 is
𝑉𝑎 −𝐼𝑎 𝑅
𝜔𝑚 = 𝐾 ……………….(3)
𝑒𝑓 𝐼𝑎 +𝐾𝑒 ∅𝑟𝑒𝑠

iv. The torque in DC series motor is given by

𝑇𝑒 ∝ ∅𝐼𝑎 𝑇𝑒 = 𝐾𝑒 ∅𝐼𝑎 𝑇𝑒 = 𝐾𝑓 𝐾𝑒 𝐼𝑎2
∴ 𝑇𝑒 = 𝐾𝑒𝑓 𝐼𝑎2
The current 𝐼𝑎 from KVL loop is given by
𝑉𝑎 −𝐾𝑒 ∅𝑟𝑒𝑠 𝜔𝑚
𝐼𝑎 =
𝑘𝑒𝑓 𝜔𝑚 +𝑅
2
𝑉 −𝐾 ∅ 𝜔
∴ 𝑇𝑒 = 𝐾𝑒𝑓 𝑎 𝑒 𝑟𝑒𝑠 𝑚 …………….(4)
𝐾𝑒𝑓 𝜔𝑚 +𝑅
This DC series motor is fed by a 1∅ Fully Controlled rectifier in continuous mode of
conduction.
Conditions for continuous mode of conduction are:
a. 𝛂 < ∅𝐋
b. 𝐋𝐚 > 𝐋𝐜
where, α = Firing angle of converter
𝑋𝐿
∅L = Load angle = tan−1 𝑅
La = Armature load inductance
Lc = Critical inductance
The average DC voltage supplied by a 1∅ Fully controlled rectifier is given by
2𝑉𝑚
𝑉𝑎 = cos 𝛼 for continuous conduction mode
𝜋
Thus the speed expression (3) becomes

2𝑉𝑚
cos 𝛼−𝐼𝑎 𝑅
𝜋
𝜔𝑚 = 𝐾𝑒𝑓 𝐼𝑎 +𝐾𝑒 ∅𝑟𝑒𝑠

As 𝛼 ↑ , cos 𝛼 ↓, 𝑉𝑎 ↓ 𝑎𝑛𝑑 𝜔𝑚 ↓ .
The torque expression for DC series motor is
2𝑉𝑚 2
cos 𝛼−𝐾𝑒 ∅𝑟𝑒𝑠 𝜔𝑚
𝜋
𝑇𝑒 = 𝐾𝑒𝑓 𝐾𝑒𝑓 𝜔𝑚 +𝑅
Speed Torque characteristics of DC Series motor fed
by 𝟏∅ Fully controlled rectifier

The performance parameters of 𝟏∅ Fully controlled rectifier are

𝐼𝑠𝑟𝑚𝑠 = 𝐼𝑎
𝐼𝑎
𝐼𝑇𝑟𝑚𝑠 = 2
2 2
Supply power factor = cos 𝛼
𝜋

Fig.: Speed Torque characteristics of DC Series

motor fed by 1∅ Fully controlled rectifier
𝟏∅ Half controlled (or) Semi controlled fed DC
separately excited DC motor
𝟏∅ semi converter is an single quadrant operated converter only in rectification
mode.
1 𝜋 𝑉𝑚 𝜋
𝑉𝑜 = 𝜋 𝑉 sin 𝜔𝑡 𝑑𝜔𝑡
𝛼 𝑚
= 𝜋
− cos 𝜔𝑡 𝛼
𝑉𝑚
𝑉𝑜 = 1 + cos 𝛼
𝜋
The speed expression for DC separately excited DC motor is
𝑉 𝑇𝑅𝑎 𝑉𝑚 𝑇𝑅𝑎
𝜔𝑚 = 𝐾
− 𝐾2
𝜔𝑚 = 𝜋𝑘
1 + cos 𝛼 − 𝐾2
The torque expression for the DC motor is 𝑇𝑒 = 𝐾𝐼𝑎
𝑉−𝐾𝜔𝑚
𝑉𝑎 = 𝐾𝜔𝑚 + 𝐼𝑎 𝑅𝑎 𝐼𝑎 = 𝑅𝑎
𝐾𝑉 𝐾 2 𝜔𝑚
∴ 𝑇𝑒 = − Thus 𝑇𝑒 is given by
𝑅𝑎 𝑅𝑎
𝐾𝑉𝑚 1+cos 𝛼 𝐾 2 𝜔𝑚
𝑇𝑒 = − .
𝜋𝑅𝑎 𝑅𝑎
𝑽𝒂 − 𝜶 curve of a Semi converter
The fourth quadrant (IV) operation is not possible in the Half Controlled rectifier
fed DC motor because of the following reasons:
• The output voltage cannot be reversed. When coupled to an active load, the motor
speed can reverse, reversing E as shown in fig.
• As current direction doesn’t change machine now works as a generator producing
braking torque.
• Since rectifier voltage cannot be reversed, the generator energy cannot be
transferred to source but absorbed by armature.
𝑉+𝐸
• And also the current during the period is very large because 𝐼𝑎 = which
𝑅𝑎
damages the rectifier and motor. ∴ Four quadrant is not possible.
• Advantage: Cheap in cost → P.F is high.
• Drawback: Only operates in Ι Quadrant.
1∅ Semi controlled Converter
(Discontinuous conduction)

• In discontinuous conduction armature current mode, if the armature current is

discontinuous, the no-load speed will be higher then value of firing angle 𝛼 and then
significantly its speed resolution will be poor.
• A cycle of motor terminal voltage consists of three intervals
I. Interval 1: 𝛼 ≤ 𝜔𝑡 ≤ 𝜋 ( Duty Interval).
II. Interval 2: 𝜋 ≤ 𝜔𝑡 ≤ 𝛽 ( Freewheeling).
III. Interval 3: 𝛽 ≤ 𝜔𝑡 ≤ 𝜋 + 𝛼 ( Zero Current interval).

• Interval 1: During this mode, Thyristor conducts and it governing equation is

𝑑𝑖𝑎
𝑃𝑎 𝑅𝑎 + 𝐿𝑎 + 𝐸𝑏 = 𝑉𝑚 sin 𝜔𝑡
𝑑𝑡
𝑑𝑖𝑎 𝑅𝑎 𝑉𝑚 𝐸𝑏
𝑑𝑡
+ 𝐿 𝑖𝑎 = 𝐿 sin 𝜔𝑡 − 𝐼 ……………..(1)
𝑎 𝑎 𝑎

Solving the above equation using complementary function (CF) and Particular Integral (PI).
 𝑅𝑎 𝑉
• PI1 is 𝐷 + 𝑖𝑎 = 𝑚 sin 𝜔𝑡
𝐿𝑎 𝐿𝑎
𝑉
PI1 = 𝑚 sin 𝜔𝑡 − ∅
𝑍
where 𝑍 = 𝑅𝑎2 + 𝜔𝐿𝑎 2
−1 𝜔𝐿𝑎
∅ = tan 𝑅𝑎
𝑅 𝐸
• PI2 is 𝐷 + 𝐿 𝑎 𝑖𝑎 = − 𝐿 𝑏
𝑎 𝑎
𝐸𝑏 1 𝐸𝑏 1
𝑖𝑎 = − 𝐿 ∗ 𝑅 = − 𝑅𝑎 𝐿
𝑎 𝐷+ 𝑎 𝐿𝑎 ∗ 1+𝐷 𝑎
𝐿𝑎 𝐿𝑎 𝑅𝑎
−1
∵ 1+𝑥 = 1 − 𝑥 + 𝑥2 − 𝑥3 + 𝑥4 − ⋯
𝐸 𝐿
∴ 𝑖𝑎 = − 𝑅𝑏 1 − 𝐷 𝑅𝑎 + ⋯
𝑎 𝑎
𝐸𝑏
∴ PI2 = − 𝑅
𝑎
𝑉𝑚 𝐸
• PI = PI1 + PI2 = 𝑍
sin 𝜔𝑡 − ∅ − 𝑅𝑏 ………………..(2)
𝑎
∴ Solution of Equation (1) is
𝑉𝑚 𝐸
𝑖𝑎 = sin 𝜔𝑡 − 𝜃 − 𝑅𝑏 + 𝐾1 𝑒 −𝜔𝑡 cot 𝜃 …………………(3)
𝑍 𝑎
Where 𝐾1 = constant
𝑉𝑚
𝑍
sin 𝜔𝑡 − 𝜃 → armature current due to input supply voltage
𝐸𝑏
→ due to back emf
𝑅𝑎
𝐾1 𝑒 −𝜔𝑡 cot 𝜃 → due to transient component of current
Constant 𝐾1 can be evaluated by using the initial condition when 𝜔𝑡 = 𝛼 ; 𝑖𝑎 = 0.
𝑉𝑚 𝐸𝑏
0= sin 𝛼 −∅ − + 𝐾1 𝑒 −𝛼 cot ∅
2 𝑅𝑎
−𝛼 cot ∅ 𝑉𝑚 𝐸
𝐾1 𝑒 =− sin 𝛼 − ∅ + 𝑅𝑏
2 𝑎
𝑉𝑚 𝐸
𝐾1 = − sin 𝛼 − ∅ − 𝑅𝑏 𝑒 𝛼 cot ∅ ……………..(4)
2 𝑎
• Substitute 𝐾1 equation (4) in equation (3) we get
𝑉𝑚 𝐸𝑏 𝑉𝑚 𝐸𝑏
𝑖𝑎 = sin 𝜔𝑡 − ∅ − − sin 𝛼−∅ − 𝑒 𝛼 cot ∅ ∗ 𝑒 −𝜔𝑡 cot 𝜃
𝑍 𝑅𝑎 𝑍 𝑅𝑎
𝑉𝑚 𝐸𝑏 𝑉𝑚 𝐸
𝑖𝑎 = sin 𝜔𝑡 − ∅ − − sin 𝛼−∅ − 𝑏 𝑒 − 𝜔𝑡−𝛼 ∗cot 𝜃
……..(5)
𝑍 𝑅𝑎 𝑍 𝑅𝑎
• Substituting 𝜔𝑡 = 𝜋 in above equation
𝑉𝑚 𝐸𝑏 𝑉𝑚 𝐸𝑏
𝑖𝑎 (𝐴)= sin 𝜋−∅ − − sin 𝛼−∅ − 𝑒 − 𝜋−𝛼 ∗cot 𝜃
……..(6)
𝑍 𝑅𝑎 𝑍 𝑅𝑎
• Interval 2: 𝜋 ≤ 𝜔𝑡 ≤ 𝛽 ( Freewheeling).
During this period, the freewheeling diode acting takes place.
𝑑𝑖𝑎
𝑅𝑎 𝑖𝑎 + 𝐿𝑎 𝑑𝑡
+ 𝐸𝑏 = 0 …………..(7)
𝐸𝑏
𝑖𝑎 𝐴 = 𝐾2 𝑒 −𝜔𝑡 cot ∅ − ………….(8)
𝑅𝑎
For initial condition 𝜔𝑡 = 𝜋
𝐸
𝑖𝑎 𝐴 = 𝐾2 𝑒 −𝜋 cot ∅ − 𝑅𝑏 …………(9)
𝑎
 𝐸 𝑉𝑚 𝐸 𝑉𝑚 𝐸
𝐾2 𝑒 −𝜋 cot ∅ = 𝑅𝑏 + 𝑍
sin 𝜋 − ∅ − 𝑅𝑏 − 𝑍
sin 𝛼 − ∅ − 𝑅𝑏 𝑒 − 𝜋−𝛼 ∗cot 𝜃
𝑎 𝑎 𝑎
−𝜋 cot ∅ 𝐸𝑏 𝑉𝑚 − 𝜋−𝛼 ∗cot 𝜃 𝐸𝑏 𝐸𝑏 − 𝜋−𝛼 ∗cot 𝜃
𝐾2 𝑒 = 𝑅 + 𝑍 sin∅ − sin 𝛼 − ∅ 𝑒 − 𝑅 +𝑅 𝑒
𝑎 𝑎 𝑎
𝑉 𝐸
𝐾2 𝑒 −𝜋 cot ∅ = 𝑍𝑚 sin∅ − sin 𝛼 − ∅ 𝑒 − 𝜋−𝛼 ∗cot 𝜃 + 𝑅𝑏 𝑒 − 𝜋−𝛼 ∗cot 𝜃
𝑎
𝑉𝑚 𝐸𝑏
∴ 𝐾2 = 𝑒 𝜋 cot ∅ ∗ sin∅ − 𝑒 𝜋 cot ∅ ∗ 𝑒 − 𝜋−𝛼 ∗cot 𝜃 ∗ sin 𝛼 − ∅ + ∗ 𝑒 𝜋 cot ∅ ∗ [𝑒 − 𝜋−𝛼 ∗cot 𝜃 ]
𝑍 𝑅𝑎
𝑉𝑚 𝜋 cot ∅ 𝛼 cot ∅ 𝐸𝑏
∴ 𝐾2 = 𝑍 𝑒 ∗ sin∅ − 𝑒 ∗ sin 𝛼 − ∅ +𝑅 ∗ 𝑒 𝜋 cot ∅ ……….(10)
𝑎

Substituting 𝐾2 from equation (10) in equation (9)

𝑉𝑚 𝐸𝑏 𝐸𝑏
𝑖𝑎 = 𝑒 𝜋 cot ∅ ∗ sin∅ − 𝑒 𝛼 cot ∅ ∗ sin 𝛼 − ∅ ∗ 𝑒 −𝜔𝑡 cot ∅ + ∗ 𝑒 𝛼 cot ∅ ∗ 𝑒 −𝜔𝑡 cot ∅ −
𝑍 𝑅𝑎 𝑅𝑎
𝑉𝑚 𝐸
𝑖𝑎 = 𝑒 −(𝜔𝑡−𝜋) cot ∅ ∗ sin∅ − 𝑒 −(𝜔𝑡−𝛼) cot ∅ ∗ sin 𝛼 − ∅ − 𝑏 [1 − 𝑒 −(𝜔𝑡−𝛼) cot ∅ ]
𝑍 𝑅𝑎
For 𝜋 ≤ 𝜔𝑡 ≤ 𝛽 when 𝜔𝑡 = 𝛽, 𝑖𝑎 = 0
𝑉𝑚 𝐸𝑏
0= 𝑒 −(𝛽−𝜋) cot ∅ ∗ sin∅ − 𝑒 −(𝛽−𝛼) cot ∅ ∗ sin 𝛼 − ∅ − [1 − 𝑒 −(𝛽−𝛼) cot ∅ ] …………(11)
𝑍 𝑅𝑎
• By solving non-linear equation (11) the value of 𝛽 can be obtained ( By using
Iterative method).
• Boundary between continuous and discontinuous condition is reached when
𝛽 = 𝜋 + 𝛼 . Substituting 𝛽 = 𝜋 + 𝛼 in equation (11) gives the critical speed
𝜔𝑚𝑐 , which separate continuous conduction from discontinuous conduction for a
given 𝛼.
𝑉𝑚 𝐸𝑏
∴ 0= 𝑒 −(𝛽−𝜋) cot ∅ ∗ sin∅ − 𝑒 −(𝛽−𝛼) cot ∅ ∗ sin 𝛼 − ∅ − [1 − 𝑒 −(𝛽−𝛼) cot ∅ ]
𝑍 𝑅𝑎
𝐸𝑏 𝑉
1 − 𝑒 − 𝛽−𝛼 cot ∅ = 𝑚 𝑒 −(𝛽−𝜋) cot ∅ ∗ sin∅ − 𝑒 −(𝛽−𝛼) cot ∅ ∗ sin 𝛼 − ∅
𝑅𝑎 𝑍
𝑅𝑎 𝑉𝑚 𝑒 −(𝛽−𝜋) cot ∅ ∗sin∅−𝑒 −(𝛽−𝛼) cot ∅ ∗sin 𝛼−∅
𝐸𝑏 = ∗
𝑍 1−𝑒 − 𝛽−𝛼 cot ∅
Substituting 𝛽 = 𝜋 + 𝛼
𝑅𝑎 𝑉𝑚 𝑒 −( 𝜋+𝛼 −𝜋) cot ∅ ∗sin∅−𝑒 −( 𝜋+𝛼 −𝛼) cot ∅ ∗sin 𝛼−∅
𝐾𝜔𝑚𝑐 = ∗
𝑍 1−𝑒 − 𝜋+𝛼 −𝛼 cot ∅
𝑅𝑎 𝑉𝑚 𝑒 −α cot ∅ ∗sin∅−𝑒 − 𝜋cot ∅ ∗sin 𝛼−∅
𝜔𝑚𝑐 = ∗
𝑍 1−𝑒 −𝜋 cot ∅ 𝐾
• Interval 3: 𝛽 ≤ 𝜔𝑡 ≤ 𝜋 + 𝛼 ( Zero Current interval).
None of the device is in conducting mode.
𝑖𝑎 = 0, 𝑉𝑎 = 𝐸𝑏
Since 𝑉𝑎 = 𝐸𝑏 + 𝐼𝑎 𝑅𝑎
From discontinuous waveform
𝑉𝑎 = 𝑉𝑚 sin 𝜔𝑡 ; for 𝛼 ≤ 𝜔𝑡 ≤ 𝜋
𝑉𝑎 = 0; for 𝜋 ≤ 𝜔𝑡 ≤ 𝛽
𝑉𝑎 = 𝐸𝑏 ; for 𝛽 ≤ 𝜔𝑡 ≤ 𝜋 + 𝛼
1 𝜋 𝜋+𝛼
∴ 𝑉𝑎 = 𝛼 𝑚
𝑉 sin 𝜔𝑡 𝑑𝜔𝑡 + 𝛽 𝐸𝑏 𝑑𝜔𝑡
𝜋
𝑉𝑚 𝜋 𝐸𝑏 𝜋+𝛼
= 1 + cos 𝜔𝑡 𝛼 + 𝜔𝑡 𝛽
𝜋 𝜋
 𝑉𝑚 (𝜋+𝛼−𝛽)𝐸𝑏
𝑉𝑎 = 1 + cos 𝛼 +
𝜋 𝜋
𝑉𝑚 𝐸𝑏
1 + cos 𝛼 + 𝜋 + 𝛼 − 𝛽 = 𝐸𝑏 + 𝐼𝑎 𝑅𝑎
𝜋 𝜋
𝐸𝑏 𝑉𝑚
𝜋 + 𝛼 − 𝛽 − 𝐸𝑏 = − 𝜋 1 + cos 𝛼 + 𝐼𝑎 𝑅𝑎
𝜋
𝐸𝑏 𝑉𝑚
𝜋 + 𝛼 − 𝛽 − 𝜋 − 𝐸𝑏 = − 1 + cos 𝛼 + 𝐼𝑎 𝑅𝑎
𝜋 𝜋
𝐸𝑏 𝑉𝑚
𝜋
𝛼−𝛽 =− 𝜋
1 + cos 𝛼 + 𝐼𝑎 𝑅𝑎
𝑉𝑚 𝐼𝑎 𝑅𝑎 ∗𝜋
𝐸𝑏 = − 𝛽−𝛼 1 + cos 𝛼 − 𝛽−𝛼
𝑉𝑚 𝐼 𝑅𝑎 ∗𝜋
𝐾𝜔𝑚 = − 𝛽−𝛼 1 + cos 𝛼 − 𝑎𝛽−𝛼
𝑉𝑚 𝑇∗𝑅𝑎 ∗𝜋
𝜔𝑚 = − 𝐾∗ 𝛽−𝛼 1 + cos 𝛼 − 𝐾2 𝛽−𝛼