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03 Chapter 2_dc Drive

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22 views139 pages

03 Chapter 2_dc Drive

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2022977659
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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DC MOTOR DRIVES

Principle of operation
Torque-speed characteristic
Methods of speed control
Adding Resistance
Adjusting Armature Armature
Adjusting Field Voltage
Solid-State Control
Phase-controlled Rectifier
Switch-mode converter (Chopper)
1Q-Converter
2Q-Converter
4Q-Converter
REVIEW ON DC MOTORS
✓ The DC machine is popular in a number of drive
applications due to its simple operation and
control.

✓ The starting torque of DC machines is large, which


is the main reason for using it in several traction
applications.

✓ A large number of appliances and power tools used


at home, such as circular saws and blenders, are
DC machines.
• The direct current (dc) machine can be used as
a motor or a generator
• The major advantages of dc machines are the
DC Motors: easy speed and torque regulations
Introduction • However, their application is typically limited
to mills, mines and trains. As examples,
trolleys and underground subway cars may use
dc motors
• The starting torque of DC machines is large,
which is the main reason for using it in several
traction applications
• A large number of appliances and power tools
used at home, such as circular saws and blenders,
are DC machines
• Even today the starter is a series dc motor
• However, the recent development of power
DC Motors: electronics has reduced the use of dc motors and
generators
Introduction • The electronically controlled ac drives are
gradually replacing the dc motor drives in
factories
• Nevertheless, a large number of dc motors are
still used by industry and several thousands are
sold annually
Revision: Lorentz Force Left Hand Rule
When a wire carrying an electric current is
placed in a magnetic field, each of the
moving charges, which comprise the
current, experiences the Lorentz force

Right Hand Rule

F=IlB 6
Keeping the Force uni−directional with commutators

7
DC Motors: Construction
• The stator of the dc motor has
poles, which are excited by dc
current to produce magnetic fields.
• In the neutral zone, in the middle
between the poles, commutating
poles are placed to reduce sparking
of the commutator. The
commutating poles are supplied by
dc current.
• Compensating windings are
mounted on the main poles. These
short−circuited windings damp
rotor oscillations.

8
DC Motors: Construction
• The poles are mounted on an iron
core that provides a closed
magnetic circuit.
• The motor housing supports the
iron core, the brushes and the
bearings.
• The rotor has a ring−shaped
laminated iron core with slots.
• Coils with several turns are placed
in the slots. The distance between
the two legs of the coil is about 180
electric degrees.
9
DC Motors: Construction
• The coils are connected in series
through the commutator segments.
• The ends of each coil are connected to
a commutator segment.
• The commutator consists of insulated
copper segments mounted on an
insulated tube.
• Two brushes are pressed to the
commutator to permit current flow.
• The brushes are placed in the neutral
zone, where the magnetic field is
close to zero, the reduce arcing.

10
DC Motors: Construction
• The commutator switches the
current from one rotor coil to the
adjacent coil.
• The switching requires the
interruption of the coil current.
• The sudden interruption of an
inductive current generates high
voltages.
• The high voltage produces
flashover and arcing between the
commutator segment and the
brush.
11
DC Motors: Operation
• In a dc motor, the stator poles are supplied by dc excitation current,
which produces a dc magnetic field.
• The rotor is supplied by dc current through the brushes, commutator
and coils.
• The interaction of the magnetic field and rotor current generates a
force that drives the motor.

12
DC Motors: Classification
Separately Excited and Shunt Motors
• Field and armature windings are either connected separate or in parallel.
• Provide full torque even at almost zero speed, but the separate field supply adds cost and
complexity to the system.
• Run at approximately constant speed − determined by applied voltage − as the load changes.
Series Motors
• Field and armature windings are connected in series.
• Specially constructed motor with field windings in series with armature.
• Field winding only has a few turns as it takes the full load current.
• Torque speed characteristics similar to constant power.
Compound Motors
• Has both shunt and series field so it combines features of series and shunt motors.

13
Separately Excited DC Motor

• The armature winding supplies the load.


• The field winding is supplied by a separate dc source
whose voltage is variable.
• Good speed control.

Vf and Va are controlled separately

14
Shunt Connected DC Motor

• V = Va = Vf
• I = Ia + If

15
Series DC Motor

• I = Ia = If

16
Applications
• Shunt Motors: Constant speed − speed stays relatively constant from
no−load to full−load (good speed regulation)
• Applications: centrifugal pump, machine tools, blower fans,
reciprocating pumps, etc
• Series Motors: Applications requiring high starting torque or high
speed at light loads. Good acceleration due to high torque at low
speeds. Applications: electric trains, electric cranes, hoists, elevators,
etc.

17
Basic Theory of Operation
• Separately Excited DC Motor – separate supplies for the stator and
rotor circuits
• The armature (rotor) circuit is accessed by a commutator which
ensures that the current flow in the winding is orthogonal to the flux
• Torque = Machine Constant x Flux x Armature Current
• Faraday Law
• Left Hand Rule

18
SPEED CONTROL OF DC MOTORS
✓ Based on the speed-torque characteristics of a DC,
separately excited or shunt motor can be expressed by the
formula:

or ;

Where:
ω0 is the no-load speed. (computed when the torque and
current are equal to zero).
∆ω is the speed drop (is a function of the load torque).
Sharkawi pp 156
SPEED CONTROL OF DC MOTORS
✓ For a given torque, the motor speed is a function of the
following three quantities:

i. Resistance in armature circuit. (When a resistance is


inserted in the armature circuit, the speed drop ∆ω
increases and the motor speed decreases.
ii. Terminal voltage (armature voltage). Reducing the
armature voltage Vt of the motor reduces the motor
speed.
iii. Field flux (or field voltage). Reducing the field voltage
reduces the flux ϕ, and the motor speed increases.
SPEED CONTROL OF DC MOTORS
✓ We cannot operate electric motors with voltages higher
than the rated value.

✓ Therefore, we cannot control the motor speed by increasing


the armature or field voltages beyond the rated values.
Only voltage reduction can be implemented.

✓ Hence, the second method of speed control (armature


voltage) is only suitable for speed reduction, whereas the
third method (field voltage) is suitable for speed increase.
CONTROLLING SPEED BY ADDING RESISTANCE

+ Radd

+ Radd

Assume that the load torque is unidirectional and constant. A


good example of this type of torque is an elevator. Also assume
that the field and armature voltages are constant.
CONTROLLING SPEED BY ADDING RESISTANCE
✓ At point 1, no external resistance is
in the armature circuit.

✓ If a resistance Radd1 is added to the


armature circuit, the motor
operates at point 2, where the
motor speed ω2 is:

or

➢ Noted that the no-load speed ω0 is unchanged regardless of the value of


resistance in the armature circuit.
➢ The second term of the speed equation is the speed drop ∆ω, which increases
in magnitude when Radd increases.
➢ Consequently, the motor speed is reduced.
CONTROLLING SPEED BY ADDING RESISTANCE

✓ If the added resistance keeps


increasing, the motor speed
decreases until the system
operates at point 4, where the
speed of the motor is zero.

✓ The operation of the drive system


at point 4 is known as “holding”.

✓ When the motor is operating under a holding condition, the speed drop ∆ω4
is equal in magnitude to the no-load speed ω0.
The resistance in this case is:
or
EXAMPLE

Sharkawi pp 159
SOLUTION
SOLUTION
CONTROLLING SPEED BY ADJUSTING ARMATURE VOLTAGE

✓ A common method of controlling speed is to adjust the


armature voltage.

✓ This method is highly efficient and stable and is simple to


implement.

The only controlled variable is


the armature voltage of the
motor, which is depicted as an
adjusted-voltage source.
CONTROLLING SPEED BY ADJUSTING ARMATURE VOLTAGE

✓ Based on equation below, when the armature voltage is


reduced, the no-load speed ω0 is also reduced.
or

✓ Moreover, for the same value of load torque and field flux,
the armature voltage does not affect the speed drop ∆ω.

✓ The slope of the speed-torque characteristic is 𝑅𝑎 Τ 𝑘∅ 2 ,


which independent of the armature voltage.
CONTROLLING SPEED BY ADJUSTING ARMATURE VOLTAGE

✓ Hence, the characteristics are parallel lines as shown in Fig.


below. (Note that we are assuming the field voltage is
unchanged when the armature voltage varies).

;
✓ Electric holding can be done if the armature voltage is
reduced until ∆ω is equal to ω0.
✓ This operating point is shown in Fig. below at an armature
voltage equal to V4.

or
EXAMPLE

Sharkawi pp 161
SOLUTION

;
CONTROLLING SPEED BY ADJUSTING FIELD VOLTAGE

✓ Equation below show the dependency of motor on the field


flux.

or
;

✓ The no-load speed is inversely proportional to the flux.

✓ Therefore, the speed is more sensitive to flux variations in


the armature voltage.
CONTROLLING SPEED BY ADJUSTING FIELD VOLTAGE

✓ If we reduce the field voltage, the field current and


consequently the flux are reduced.
CONTROLLING SPEED BY ADJUSTING FIELD VOLTAGE

✓ When the field flux is reduced, the no-load speed ω0 is


increased in inverse proportion to the flux, and the speed
drop ∆ω is also increased.
EXAMPLE

Sharkawi pp 163
SOLUTION


SOLUTION
SOLID-STATE CONTROL

➢ Armature Resistance is a very inefficient method. Keep in mind that operating a dc


motor for a period of time with a resistance inserted in the armature circuit is a
very inefficient method. The use of resistance is acceptable only when the
resistance is used for a very short period of time.
➢ Hence, terminal (armature) voltage and field flux control methods are more
common

➢ The greatest advantage of using DC motors is their variable speed characteristic.

➢ Although the ability to change motor speed is often desirable, it is generally


necessary that the motor maintain a constant speed once it has been set.
SOLID-STATE CONTROL

➢ For example, assume that a DC motor can be adjusted to


operate at any speed from 0 to 1800 rpm. Now assume that
the operator has adjusted the motor to operate at 1200
rpm.

➢ The operator controls are connected to


the phase shift control unit (Figure
below). If the operator desires to change
speed, a signal is sent to the phase shift
control unit and the phase shift control
permits the voltage applied to the
armature to increase or decrease.
Base Speed and Field−Weakening
➢ Dc electric motor cannot be operated with voltages higher than the rated value,
Va

omega < omega bassed

P =   T = constant

42
SOLID-STATE CONTROL

✓ Solid-state control is used for enhanced efficiency and for


versatile operation of electric drive systems.

✓ For dc machine, converters are often used in the armature


circuit to control the terminal voltage of the motor.

✓ In some cases, the converter is also used to control the field


voltage.

✓ When a converter is used, the power source can be either ac or


dc, which makes the selection of the machine independent of
variable power source at the site.
SOLID-STATE CONTROL
Controller rectifier and dc–dc converter-fed drives

separately excited

Rashid pp 701
Four Quadrant Operation

45
SOLID-STATE CONTROL

Equivalent circuit of separately excited dc motors

Rashid pp 702
Basic Torque Equation

Rashid pp 702 47
Field and armature equations

Rashid pp 702 48
Steady State Operation

Rashid pp 703 49
SOLID-STATE CONTROL

Under steady-state conditions, the time


derivatives in these equations are zero and
the steady-state average quantities are
E g = K   = K f If
E g = KK f If   E g = K v If 
Eg  V 
Kv =  rad 
If   A sec 

Kt = torque constant
Torque developed Kv = generator constant
By motor
B = Viscous friction
J = Inertia of a motor
ω = normal speed
SOLID-STATE CONTROL

The developed power is

The speed of a separately excited motor can


be found from

Kt = torque constant = Kv
Kv = voltage constant [V/(A-rad/s)]
B = Viscous friction [NM/(rad/s)]
J = Inertia of a motor [kg.m2]
ω = normal speed [rad/s]
SOLID-STATE CONTROL
Equivalent circuit of dc series motors
SOLID-STATE CONTROL

The steady-state average quantities are

Kt = torque constant = Kv
Kv = voltage constant [V/(A-rad/s)]
B = viscous friction [NM/(rad/s)]
J = inertia of a motor [kg.m2]
ω = normal speed [rad/s]
SOLID-STATE CONTROL

The speed of a series motor can be


determined as:

Kt = torque constant = Kv
Kv = voltage constant [V/(A-rad/s)]
B = viscous friction [NM/(rad/s)]
J = inertia of a motor [kg.m2]
ω = normal speed [rad/s]
SOLID-STATE CONTROL
Schematic for a gearbox between motor and load
SOLID-STATE CONTROL
Gear Ratio
Assuming zero losses in the gearbox, the
power handled by the gear is the same on
both sides. That is,

The speed on each side is inversely


proportional to its tooth number. That is,
SOLID-STATE CONTROL
Gear Ratio Efficiency
The efficiency of the gear coupling could
affect the actual amount of torque required
to be supplied to the load. By referring the
load torque to the motor side and with
efficiency, η:
SOLID-STATE CONTROL
Gear Ratio

Similar to a transformer, the load inertia J1 and


the load bearing constant B1 can be reflected to
the motor side by

Kt = torque constant
Kv = generator constant
B = Viscous friction
J = Inertia of a motor
ω = normal speed
SOLID STATE CONTROL

Rectifier (AC to DC) Chopper (DC to DC)


1. Half wave drive 1. First quadrant
2. Full wave drive 2. Second quadrant
3. Effects of freewheeling 3. Two quadrant
4. Four quadrant
SOLID-STATE CONTROL

Basic circuit arrangement of a single-phase dc drive


SOLID-STATE AC-DC CONTROL

✓ The armature circuit of the motor is connected to the converter,


which fed from an AC source.
✓ The field circuit of the motor is excited from the AC source
through a rectifier circuit, which may contain filters.
SINGLE-PHASE, HALF WAVE DRIVES

✓ Before triggering of the SCR at α, the instantaneous voltage


across the motor terminal Vt is equal to Ea.
✓ During the SCR conduction, Vt is equal to the instantaneous
source voltage Vs.
Sharkawi pp 166
SINGLE-PHASE, HALF WAVE DRIVES

The average voltage across the terminals of the motor:

Example

Sharkawi pp 166
SINGLE-PHASE, FULL-WAVE DRIVES

➢ The switching of the SCRs is dependent on the polarity of the


voltage source Vs (Positive & Negative Half-Cycle)
SINGLE-PHASE, FULL-WAVE DRIVES

➢ The current i1 (solid lines) flows when


the AC waveform of the source voltage is
in the positive half-cycle, and SCRs S1
and S2 are triggered.

➢ Similarly, current i2 (dashed lines) flows


when the waveform of the source
voltage is in the negative half, and S3 and
S4 are triggered.

➢ In either half of the cycle, the current


will flow in the same direction inside the
motor.
SINGLE-PHASE, FULL-WAVE DRIVES

conduction angle, 𝛾 < 180𝑜

conduction angle, 𝛾 = 𝛽 − 𝛼

Example

Sharkawi pp 171
SINGLE-PHASE, FULL-WAVE DRIVES

Continuous Armature Current


• For heavily loaded motors with high armature inductance, conduction period
may equal or exceed 180o.
• This may result in an overlap of i1 and i2 which results in continuous motor
current (Ia).

conduction angle, 𝛾 > 180𝑜

Bheta

Sharkawi pp 172
SINGLE-PHASE, FULL-WAVE DRIVES

Sharkawi pp 172
SINGLE-PHASE, DUAL-CONVERTER DRIVES
SINGLE-PHASE, DUAL-CONVERTER DRIVES
Phase-controlled rectifier: 4Q Operation

+
1 phase 1 phase
supply Vt supply

Q2 Q1

Q3 Q4
T
SINGLE-PHASE, DUAL-CONVERTER DRIVES
Conditions for four quadrants.

voltage across motor, Eg

diff. direction
supply
SINGLE-PHASE, DUAL-CONVERTER DRIVES

•If converter 1 operates with a delay angle


of αa1, the armature voltage is
ˆ
Vm = V
SINGLE-PHASE, DUAL-CONVERTER DRIVES

•If converter 2 operates with a delay angle


of αa2, the armature voltage is

ˆ
Vm = V
•where αa1 +αa2 = π. With a full converter in
the field circuit, the field voltage is

Example
SINGLE-PHASE, DUAL-CONVERTER DRIVES
Conditions for four quadrants.
Electrical Drives (EPO640)
DC Drives (Part 03)
THREE-PHASE FULL WAVE CONVERTER DRIVES

▪ The armature circuit is connected to the output of a three-phase controlled rectifier or a


forced-commutated three-phase ac-dc converter.
▪ Three-phase drives are used for high-power applications up to megawatt power levels.
▪ The armature current mostly continuous, and therefore the motor performance is better
compared with the of single-phase drives.
▪ Similar to the single-phase drives, three-phase drives may also be subdivided into:

1. Three-phase half-wave (midpoint) converter drives


2. Three-phase semi-converter drives
3. Three-phase full-converter drives
4. Three-phase dual-converter drives
THREE-PHASE FULL WAVE CONVERTER DRIVES

berapa
Q1 pulse

Boldea pp 94
THREE-PHASE FULL WAVE CONVERTER DRIVES

Boldea pp 95
THREE-PHASE FULL WAVE CONVERTER DRIVES

➢ With this circuit,


the three-phase
AC is converted
to a DC using six
switches (G1
through G6).
THREE-PHASE FULL WAVE AC-DC CONVERSION
6 pulse

Two Quadrants:

0    90
 30o

comparator
o

Average voltage of the load Vdc:

ˆ
3V 3 3Vˆ
Vdc = LL
cos  = 
cos  90    180
 
Max average voltage of the load Vdc 30o
when firing angle = 0:
ˆ
3V 3 3Vˆ

Vdc(max) = LL
=
  o
THREE-PHASE FULL WAVE DUAL-CONVERTER DRIVES

Phase-controlled rectifier: 4Q Operation



+ −
Q1
3-phase + Q2
3-phase
supply Vo1 Vo2 supply
Vo Q3 Q4 T
+

ˆ
3V 3 3Vˆ Vo = Vo1 = −Vo2

Vo1 = LL
cos 1 = cos 1 = Vo max cos 1 Vo max cos 1 = −Vo max cos  2
 
(
cos 1 = cos 180 −  2 )
ˆ
3V 3 3Vˆ

Vo2 = LL
cos  2 = cos  2 = Vo max cos  2 1 +  2 = 180
 
SOLID STATE CONTROL

Rectifier (AC to DC) Chopper (DC to DC)


1. Half wave drive 1. First quadrant
2. Full wave drive 2. Second quadrant
3. Effects of freewheeling 3. Third quadrant
4. Four quadrant
DC-DC Chopper Circuit
✓ DC-DC converters are normally designed to provide output DC waveforms
at adjustable voltage levels.

✓ These converters, also known as choppers, can be designed to produce


fixed output voltage for variable input voltage or variable output voltage
for fixed input voltage.

1. Step-down (Buck) converter, where the output voltage of the converter is


lower than the input voltage.
2. Step-up (Boost) converter, where the output voltage is higher than the
input voltage.
3. Step-down/step-up (Buck-Boost) converter, where the output voltage
can be made either lower or higher than the input voltage.

✓ In most electric drive applications, the DC-DC converter is a step-down


type.
Four Quadrant Operation

84
DC-DC Chopper Circuit
Two-quadrant transistorized dc–dc converter drive

buck chopper
DC-DC Chopper Circuit
• The average armature voltage is

where k is the duty cycle of the dc–dc converter.


duty ratio
• The power supplied to the motor is

where Ia is the average armature current of the motor


and it is ripple free.
• Assuming lossless circuit:
Pin = Po  Vs Is = Va Ia
• Average input current:
Is = kIa
DC-DC Chopper Circuit
Two-quadrant transistorized dc–dc converter drive

- Ia Q2 D1 Q1 D2
+ Ia
Quadrant Quadrant
2 1

Quadrant Quadrant
3 4

Quadrant 1: Power Control – Q1 D2 operate. Q2 turned OFF.


buck • Q1 ON, Vs across Va
• Q1 OFF, Ia decays through D2
Quadrant 2: Regenerative Control – Q2 D1 operate. Q1 turned OFF.
• Q2 ON, motor acts generator, Ia rises
M>Vs
boost • Q2 OFF, Ia flows through D1 returning energy back to supply Boldea pp 95
DC-DC Chopper Circuit
Four-quadrant transistorized dc–dc converter drive
sama mcm dual converter

- Ia
+ Ia

Quadrant Quadrant
2 1

Quadrant Quadrant
3 4
DC-DC Chopper Circuit
Four-quadrant transistorized dc–dc converter drive
Quadrant 1: Forward Power Control – Q1 Q2 operate. Q3 Q4 turned OFF.
• Q1 Q2 both ON, Vs across Va & Ia rises
• Q1 OFF Q2 still ON, Ia decays through Q2 & D4
- Ia • OR alternatively both Q1 & Q2 OFF, Ia decays through D3 & D4
+ Ia
Quadrant 2: Forward Regeneration – Q1 Q2 Q3 turned OFF.
• Q4 ON, Ia rises through Q4 & D2
• Q4 OFF, motor (now acts generator) returns energy to supply through D1 & D2
• Va equals positive Vs

Quadrant 3: Reverse Power Control – Q3 Q4 operate. Q1 Q2 turned OFF.


• Q3 Q4 both ON, -Vs across Va & Ia rises in reverse direction
• Q3 OFF Q4 still ON, Ia falls through Q4 & D2
• OR alternatively both Q3 & Q4 OFF, Ia decays through D1 & D2

Quadrant 4: Reverse Regeneration – Q1 Q3 Q4 turned OFF.


• Q2 ON, Ia rises through Q2 & D4
• Q2 OFF, motor (now acts generator) returns energy to supply through D3 & D4
• Va equals positive Vs
DC-DC Chopper Circuit
Quadrant 1: Forward Power Control – Q1 Q2 operate. Q3 Q4 turned OFF.
• Q1 Q2 both ON, Vs across Va & Ia rises
- Ia
+ Ia

+ Ia

• Q1 OFF Q2 still ON, Ia decays through Q2 & D4

• OR alternatively both Q1 & Q2 OFF, Ia


decays through D3 & D4

+ Ia

+ Ia
Advantages of Switch mode converters
Switch–mode converters cth : kat pc/laptop

• Switching at high frequency


→ Reduces current ripple
→ Increases control bandwidth
- reduce size of component [ inductor, capacitor ]
• Suitable for high performance applications
EXAMPLE
SOLUTION

Eqn Vt
EXAMPLE

Ex. above
SOLUTION

Eqn Vt
EXAMPLE

E g = K   = K f If
E g = KK f If   E g = K v If 
Eg  V 
Kv =  rad 
If   A sec 

Td = KIa   = K f If
Td = KK f If Ia  Td = K v If Ia
SOLUTION

Eqn Vf
▪ Feedback is an important concept in circuit design, where a
signal or voltage derived from the output is superimposed on
the input.

▪ This output-to-input path can be used for several purposes:


control output voltage, control gain, reduce distortion, improve
stability, or create instability, as in an oscillator.
▪ A feedback control system consists of the building blocks
shown in Figure below.

▪ It includes the necessary elements: the signal path, a


means of sampling the output, processing of the feedback
signal, and a means of reintroducing the error signal at the
input.

The basic functions required to achieve feedback in an electronic system


▪ In the simplest feedback systems, the feedback signal
processing may be one or two passive components,
with direct connections to the through circuit at the
output and input.

▪ The diagram can also become much more complex,


with extensive signal processing and the addition of
reference signals, comparators, delay lines and even
multiple feedback loops.
CLOSED-LOOP CONTROL OF DC DRIVES

▪ The speed of DC motors changes with the load


torque.
▪ To maintain a constant speed, the armature (and or field)
voltage should be varied continuously by varying the
delay angle of ac-dc converters or duty cycle of dc-dc
converters.
▪ In practical drive systems it is required to operate the drive
at a constant torque or constant power; in addition,
controlled acceleration and deceleration are required.
▪ Most industrial drives operate as closed-loop
feedback systems.
CLOSED-LOOP CONTROL OF DC DRIVES

Advantages of a closed-control system:

▪ improved accuracy,
▪ fast dynamic response, and
▪ reduced effects of load disturbances and system
nonlinearities.
The block diagram of a closed-loop converter-fed separately excited DC drive

▪ If the speed of the motor decreases due to the application of


additional load torque, the speed error Ve increases.
▪ The speed controller responses with an increased control
signal Vc, change the delay angle or duty cycle of the
converter, and increase the armature voltage of the motor.
▪ An increased armature voltage develops more torque to
restore the motor speed to the original value. Rashid pp 733
▪ The steady-state characteristics of DC drives are of major
importance in the selection of DC drives and are not sufficient
when the drive is in closed-loop control.

▪ Knowledge of the dynamic behavior (small-signal model),


which is normally expressed in the form of a transfer
function, is also important.
OPEN-LOOP TRANSFER FUNCTION SEPARATELY EXCITED MOTORS

The circuit arrangement of a converter-fed separately excited DC motor drive with


open-loop control
▪ The motor speed is adjusted by setting reference (or control) voltage vr.

▪ Assuming a linear power converter of gain K2, the armature voltage of


the motor is

𝑣𝑎 = 𝐾2𝑣𝑟 ---(1)
Rashid pp 734
▪ Assuming that the motor field current If and
the back emf constant Kv remain constant
during any transient disturbances, the system
equations are

---(2)

---(3)

---(4)
Eg = intantaneous back emf
---(5) Va = instantaneous armature voltage
Kv = voltage constant, V/[A-rad/s]
Kt = torque constant = Kv
B = Viscous friction, N.m/[rad/s]
J = Inertia of a motor
ω = normal speed
▪ The transient behavior may be analyzed by
changing the system equations into the
Laplace transforms with zero initial conditions.

▪ Transforming equations (1), (3), and (5)


yields
𝑉𝑎 𝑠 = 𝐾2𝑉𝑟 𝑠 ---(6)

𝑉𝑎 𝑠 = 𝑅𝑚𝐼𝑎 𝑠 + 𝑠𝐿𝑚𝐼𝑎 𝑠 + 𝐾𝑣𝐼𝑓𝜔(𝑠) ---(7)

𝑇𝑑 𝑠 = 𝐾𝑡𝐼𝑓𝐼𝑎 𝑠 = 𝑠𝐽𝜔 𝑠 + 𝐵𝜔 𝑠 + 𝑇𝐿 𝑠 ---(8)

▪ From equation (7), the armature current is


𝑉𝑎 𝑠 − 𝐾𝑣𝐼𝑓𝜔(𝑠)
𝐼𝑎 𝑠 = ---(9)
𝑠𝐿 𝑚 + 𝑅𝑚
Where 𝜏𝑎 = 𝐿 𝑚 /𝑅 𝑚 is known as
𝑉𝑎 𝑠 − 𝐾𝑣𝐼𝑓𝜔(𝑠) the time constant of motor
= ---(10) armature circuit.
𝑅𝑚 𝑠𝜏𝑎 + 1
✓ From equation (8), the motor speed is
𝑇𝑑 𝑠 − 𝑇𝐿(𝑠)
𝜔 𝑠 = ---(11)
𝑠𝐽 + 𝐵
𝑇𝑑 𝑠 − 𝑇𝐿(𝑠)
= ---(12)
𝐵 𝑠𝜏 𝑚 + 1

Where 𝜏 𝑚 = 𝐽/𝐵 is known as the mechanical time constant of the motor.


▪ Equation (6), (10) and (12) can be used to
draw the open-loop block diagram as shown
below 𝑇 (s)= 𝐾 𝐼 𝐼 (s)= 𝑠𝐽𝜔(s)+ 𝐵𝜔(s)+ 𝑇 (s)
𝑑 𝑡 𝑓 𝑎 𝐿
𝑉𝑎(s)= 𝐾2𝑉𝑟(s)

𝑉𝑎(s)= 𝑅𝑚𝐼𝑎(s)+ 𝑠𝐿 𝑚 𝐼 𝑎 (s)+ 𝐾𝑣𝐼𝑓𝜔(s)

▪ Two possible disturbances are control voltage


o Vr and load torque TL.

▪ The steady-state responses can be determined


by combining the individual response due to
Vr and TL.
▪ The response due to a step change in the
reference voltage is obtained by setting TL to
zero. Therefore, the speed response due to
reference voltage is

G − V = ---(13)

Eg = intantaneous back emf Kv = generator constant = Kt


Va = instantaneous armature voltage B = Viscous friction
Kt = torque constant J = Inertia of a motor
ω = normal speed
▪ The response due to a change in load torque
TL can be obtained by setting Vr to zero.

Open loop block diagram torque disturbance input

G −T = ---(14)
▪ Using the final value theorem, the steady-state
relationship of a change in speed ∆ω, due to a
step change in control voltage ∆Vr, and a step
change in load torque ∆TL, can be found from
equation (13) and (14), respectively, by
substituting s=0.

---(15)

---(16)

The speed response due to simultaneous applications of disturbances in both


input reference and the load can be found by summing their individual
responses:

(s) = G − V Vr (s) + G −T TL (s)


STOP
CONVERTER CONTROL MODELS

The gain of a DC–DC converter can be expressed as

where Vc is the control signal voltage (say 0 to 10 V) and Vcm


is the maximum value of the control signal voltage (10 V).

k is the duty ratio


For single-phase converter

Kr
where Vs=Vm/√2 is the rms value of the ac supply voltage per phase.
Therefore, a converter can be modeled with a transfer
function Gc(s) of a certain gain and phase delay as
described by

which can be approximated as a first-order lag function


given by
✓ Once the models for motor are known, feedback paths can be
added to obtain the desired output response.

✓ To change the open-loop arrangement in Fig. below into a


closed-loop system, a speed sensor is connected to the
output shaft.

Converter-fed separately excited DC motor drive


✓ The output of the sensor, which is proportional to the speed,
is amplified by a factor of K1 and is compared with the
reference voltage Vr to form the error voltage Ve. The
complete block diagram is shown in Fig. below.

Block diagram for closed-loop control of separately excited dc motor


The closed-loop step response due to a change in reference
voltage can be found from Fig. above with TL=0. The transfer
function becomes

Open loop block diagram torque disturbance input

---(15)
The response due to a change in the load torque
TL can also be obtained from Figure below by
setting Vr to zero.

Block diagram for closed-loop control of separately excited dc motor

---(16)
The steady-state change in speed Δω, due to a
step change in control voltage Vr and a step
change in load torque TL, can be found from Eqs.
(15) and (16), respectively, by substituting s = 0.

 Vr

---(17)

TL

---(18)
Example: Finding the speed and torque response of a
converter-fed drive

in Fig. below.
Solution
Solution
Solution
Solution
CLOSED LOOP TRANSFER FUNCTION

Block diagram for closed-loop control of separately excited dc motor

✓ Figure above uses a speed feedback only. In practice, the


motor is not only required to operate at a desired speed,
but it has to meet the load torque, which depends on
the armature current.
✓ While the motor is operating at a particular speed, if a load is
applied suddenly, the speed falls and the motor takes time to
come up to the desired speed.
Rashid
Block diagram of speed feedback with current loop and field weakening loop

• A speed feedback with inner


current loop provides faster
response to any disturbances in
Current Control Loop
speed command, load torque, and
supply voltage.
• The current loop is used to cope
with a sudden torque demand
Field Weakening Loop under transient condition.
• The speed control above the
base speed is obtained by the
field weakening while the
armature terminal voltage is
maintained at near the rated value
– field weakening control loop.
• The output of the speed controller
ec is applied to the current limiter,
which sets the current reference
Current Control Loop Ia(ref) for the current loop.
• The armature current Ia is sensed by
a current sensor, filtered normally
by an active filter to remove ripple,
and compared with the current
Field Weakening Loop
reference Ia(ref).
• The error current is processed
through a current controller whose
output vc adjusts the firing angle of
the converter and brings the motor
speed to the desired value.
• Any positive speed error caused by an
increase in either speed command or load
torque demand can produce a high
reference current Ia(ref).
Current Control Loop • The motor accelerates to correct the speed
error, and finally settles at a new Ia(ref),
which makes the motor torque equal to the
load torque, resulting in a speed error close
to zero.
• For any large positive speed error, the
Field Weakening Loop
current limiter saturates and limits the
reference current Ia(ref) to a maximum
value Ia(max).
• The speed error is then corrected at the
maximum permissible armature current
Ia(max) until the speed error becomes
small and the current limiter comes out of
saturation with Ia < Ia(max)
• The speed control from zero to base
speed is normally done at the maximum
field by armature voltage control, and
control above the base speed should
Current Control Loop
be done by field weakening at the
rated armature voltage.
• In the field control loop, the back emf 𝐸𝑔
= (𝑉𝑎 − 𝐼𝑎𝑅𝑎) is compared with the
Field Weakening Loop
reference voltage 𝐸𝑔(ref), which is
generally between 0.85 to 0.95 of the
rated armature voltage.
• For speeds below the base speed, the
field error 𝑒𝑓 is large and the field
controller saturates, thereby applying
the maximum field voltage and current.
• When the speed is close to the speed,
Va is almost near to the rated value
and the field controller comes out of
saturation.
Current Control Loop
• For a speed command above the base
speed, the speed error causes a
higher value of Va.
• The motor accelerates, the back emf
Field Weakening Loop
Eg increases, and the field error ef
decreases.
• The field current then decreases
and the motor speed continues to
increase until the motor speed
reaches the desired speed.
• Thus, the speed control above the
base speed is obtained by the field
weakening while the armature
Current Control Loop terminal voltage is maintained at near
the rated value.
• In the field weakening mode, the
drive responds very slowly due to the
Field Weakening Loop large field time constant.
• A full converter is normally used in the
field, because it has the ability to
reverse the voltage, thereby
reducing the field current much
faster than a semiconductor.
DESIGN OF CURRENT CONTROLLER

PI Control: Transfer Function – Current Controller

PI Control: Transfer Function – Speed Controller

Transfer Function – Speed Feedback

Rashid pg 744
• The loop gain function of the motor drive

• To reduce system to second order, following assumptions of time constant can be made
for practical motor drives:

Rashid pg 744
• the characteristic equation of the loop gain

• the natural frequency s 2 + 2n s + n = 0

• damping factor

• setting the damping ratio = 0.707 for critically damped, assuming K≫1 and
τ1 > τ1, the of the controller can be expressed

Rashid pg 744
THANK YOU

42

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