03 Chapter 2_dc Drive
03 Chapter 2_dc Drive
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.
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.
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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.
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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.
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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.
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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.
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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.
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Separately Excited DC Motor
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.
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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
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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:
+ Radd
+ Radd
or
✓ 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
✓ Moreover, for the same value of load torque and field flux,
the armature voltage does not affect the speed drop ∆ω.
;
✓ 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
or
;
Sharkawi pp 163
SOLUTION
∝
SOLUTION
SOLID-STATE CONTROL
P = T = constant
42
SOLID-STATE CONTROL
separately excited
Rashid pp 701
Four Quadrant Operation
45
SOLID-STATE CONTROL
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
Kt = torque constant
Torque developed Kv = generator constant
By motor
B = Viscous friction
J = Inertia of a motor
ω = normal speed
SOLID-STATE CONTROL
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
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
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,
Kt = torque constant
Kv = generator constant
B = Viscous friction
J = Inertia of a motor
ω = normal speed
SOLID STATE CONTROL
Example
Sharkawi pp 166
SINGLE-PHASE, FULL-WAVE DRIVES
conduction angle, 𝛾 = 𝛽 − 𝛼
Example
Sharkawi pp 171
SINGLE-PHASE, FULL-WAVE DRIVES
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.
diff. direction
supply
SINGLE-PHASE, DUAL-CONVERTER DRIVES
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
berapa
Q1 pulse
Boldea pp 94
THREE-PHASE FULL WAVE CONVERTER DRIVES
Boldea pp 95
THREE-PHASE FULL WAVE CONVERTER DRIVES
Two Quadrants:
0 90
30o
comparator
o
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
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
84
DC-DC Chopper Circuit
Two-quadrant transistorized dc–dc converter drive
buck chopper
DC-DC Chopper Circuit
• The average armature voltage is
- Ia Q2 D1 Q1 D2
+ Ia
Quadrant Quadrant
2 1
Quadrant Quadrant
3 4
- 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
+ Ia
+ Ia
+ Ia
Advantages of Switch mode converters
Switch–mode converters cth : kat pc/laptop
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 = KIa = 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.
▪ 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
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.
G − V = ---(13)
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)
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
---(15)
The response due to a change in the load torque
TL can also be obtained from Figure below by
setting Vr to zero.
---(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
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
• 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
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