Control of DC Machines Drive

EE-7104
M. Naveed Iqbal
Fall 2014
Department of Electrical Engineering
GC, University, Lahore
Outline
 Power Electronics Converters for DC Drives
 Controlled Rectifier Fed DC Drives
Single Phase
 Two-quadrant
 Four-quadrant
Three Phase
 Two-quadrant
 Four-quadrant
 References
2
Power Electronic Converters
for DC Drives
 Speed Control Strategy:
 below base speed: Va control
 above base speed: flux control via Vf control
 Power electronics converters are used to obtain variable
voltage
 Highly efficient
 Ideally lossless
 Type of converter used is depending on voltage source :
 AC voltage source  Controlled Rectifiers
 Fixed DC voltage source  DC-DC converters

3
Controlled Rectifier Fed DC Drives
• To obtain variable DC voltage from fixed AC source
• DC current flows in only 1 direction
• Example of a drive system

4
 
Controlled Rectifier Fed
– Single-phase DC Drives Q2 Q1

 Two-quadrant drive Q3 Q4 T
 Limited to applications up to 15 kW
 Regeneration (Q4) only be achieved with loads that can drive
the motor in reverse (-ve )

5
Controlled Rectifier Fed
– Single-phase DC Drives ia

+
• Two-quadrant drive Single-
phase Va
For continuous current: supply
• Armature voltage 

2Vm
Va  cos a
 2Vm
where Vm = peak voltage 

• Armature current Va  Ea
Ia 

Ra 90o 180o

• Field voltage
2Vm
Vf  cos f 
2Vm
 

6
Controlled Rectifier Fed
– Single-phase DC Drives ia

+ +
Single-
• Two-quadrant drive phase Va Ea
supply 
For Quadrant 1 operation:  
•  positive  Ea and Va positive
• a  90 2Vm
• Ia positive Va  cos  a
2V m 
• Rectifier delivers power to motor, 
i.e. forward motoring. Q1

90o 180o

2Vm


7
Controlled Rectifier Fed
– Single-phase DC Drives ia

 
• Two-quadrant drive Single-
phase Va Ea 
supply
For Quadrant 4 operation: + +
•  negative  Ea negative
• a > 90  Va negative
2Vm
• Ia positive (still in same direction) Va  cos  a
2Vm 
• Rectifier takes power from motor, 

i.e. regenerative braking.


90o 180o

Q4
2Vm


8
 Controlled Rectifier Fed
– Single-phase DC Drives

 Four-quadrant drive
 Converter 1 for operation in 1st and 4th quadrant Q2 Q1
 Converter 2 for operation in 2nd and 3rd quadrant Q3 Q4 T
 Limited to applications up to 15 kW

+
Single- ia Single-
phase Va phase
supply supply


Two rectifiers
Converter 1 Converter 2 connected in anti-
parallel across
motor armature
9
 Controlled Rectifier Fed
– Single-phase DC Drives
 Four-quadrant drive
For continuous current:
 Both converters are operated to produce the same dc voltage across the
terminal, i.e.: V1 V2  0
2Vm 2Vm
where V1  cos  a1 and V2  cos  a 2
 
(Vm = peak supply voltage)
 Hence, firing angles of both converters must satisfy the following:
 a1   a 2  
+ 
Va  Ea
 Armature current I a  R V1 V2
a
2Vm +
V
 Field voltage f  cos f 


Converter 1 Converter 2
10
 Controlled Rectifier Fed
– Three-phase DC Drives 

 Two-quadrant drive Q2 Q1
 Limited to applications up to 1500 kW
Q3 Q4 T
 Regeneration (Q4) only be achieved with loads that can
drive the motor in reverse (-ve )

11
Controlled Rectifier Fed
– Three-phase DC Drives ia

+
• For continuous current: 3-phase
Va
supply
• Armature voltage

3VL-L, m
Va  cos a

where VL-L, m = peak line-to-line voltage 3VL-L, m
• Armature current 
Va  Ea
Ia 
Ra
• Field voltage 90o 180o


3VL-L, m
Vf  cos f
 is used for
(assuming a three-phase supply 
3VL-L, m

field excitation)

12
Three-phase Controlled Rectifier 2Q DC Drive
– Example

13
 Controlled Rectifier Fed
– Three-phase DC Drives

 Four-quadrant drive
 Converter 1 for operation in 1st and 4th quadrant Q2 Q1

 Converter 2 for operation in 2nd and 3rd quadrant Q3 Q4 T

Ia +ve, Ia -ve,
Va +ve or -ve Va +ve or -ve
Converter 1 Converter 2

+
ia
3-phase 3-phase
supply Va
supply

Two rectifiers
connected in anti-
parallel across
motor armature 14
 Controlled Rectifier Fed
– Three-phase DC Drives
 Four-quadrant drive +
For continuous current: ia
Va
3VLL, m
Va  cos  a 

Converter 1 Converter 2
where VL-L, m = peak line-to-line voltage.
 Similar to single-phase drive:  a1   a 2  
Converter 2: Converter 1: 0   a1  90
90   a 2  180 
Ia -ve, Ia +ve,
 a1     a 2 Va +ve Va +ve  a 2     a1
Q2 Q1
T
Q3 Q4

0   a 2  90 Converter 2: Converter 1: 90   a1  180

Ia -ve, Ia +ve,
 a1     a 2  a 2     a1
Va -ve Va -ve
15
 Controlled Rectifier Fed
– Three-phase DC Drives
• For continuous current:
• Armature current I  Va  Ea
a
Ra
• Field voltage 3VL-L, m
Vf  cos f

L1
• Disadvantages:
• Circulating current + ia
• Inductors L1 and L2 Va
added to reduce
circulating currents 

• Slow response
L2
Converter 1 Converter 2
16
Three-phase Controlled Rectifier 4Q DC Drive
– Example

17
 Controlled Rectifier Fed 
– Three-phase DC Drives Q2 Q1
 Four-quadrant drive Q3 Q4 T
 One controlled rectifier with 2 pairs of contactors
 M1 and M2 closed for operation in 1st and 4th quadrant
 R1 and R2 closed for operation in 2nd and 3rd quadrant

M1 ia R1

ia
3-phase
supply
+ Va -
R2 M2

18
Rectifier Fed DC Drives Problems
1. Distortion of Supply
 Controlled rectifier introduces harmonics to supply
currents and voltages which cause:
 heating and torque pulsations in motor
 resonance in power system network – interaction between
rectifier RL with capacitor banks in system
 Solution - eliminate most dominant harmonics by:
 install LC filters at input of converters – tuned to absorb
most dominant harmonics (i.e. 5th and 7th harmonics)
 Use 12-pulse converter – consists of two 6-pulse controlled
rectifiers connected in parallel
 Selective switching of supply input using self-commutating
devices (eg. GTOs, IGBTs) in the converter

19
Rectifier Fed DC Drives Problems
12-pulse converter – consists of two 6-pulse controlled rectifiers
connected in parallel

20
Rectifier Fed DC Drives Problems
2. Low supply power factor
• Power factor related to firing angle  of rectifier
• Low power factor especially during low speed operations
• Solution:
• Employ pulse-width modulated (PWM) rectifiers using
GTOs, IGBTs
• High power factor
• Low harmonic supply currents
• Low efficiency - high switching losses (disadvantage)

21
Rectifier Fed DC Drives Problems
3. Effect on motor
 Ripple in motor current – harmonics present (most dominant
is 6th harmonic)
 causes torque ripple, heating and derating of motor
 solution: extra inductance added in series with La
 Slow response
 Discontinuous current may occur if
 La not large enough
 Motor is lightly loaded
 Effect of discontinuous current
 Rectifier output voltage increases  motor speed
increases
(poor speed regulation under open-loop operation)
22
References
• Rashid, M.H, Power Electronics: Circuit, Devices and Applictions, 3rd ed., Pearson,
New-Jersey, 2004.
• Dubey, G.K., Fundamentals of Electric Drives, 2nd ed., Alpha Science Int. Ltd., UK,
2001.
• Krishnan, R., Electric Motor Drives: Modeling, Analysis and Control, Prentice-Hall,
New Jersey, 2001.
• Nik Idris, N. R., Short Course Notes on Electrical Drives, UNITEN/UTM, 2008.
• Ahmad Azli, N., Short Course Notes on Electrical Drives, UNITEN/UTM, 2008.

23
Three-Phase Full-Converter

Figure 10.5
Reference:
Rashid, M.H, Power Electronics: Circuit, Devices and
Applictions, 3rd ed., Pearson, New-Jersey, 2004
24
Waveforms and Conduction Times
3  / 2 
Vo ( dc ) 
  / 6 
vab d 

3  / 2   

  / 6 
3 Vm sin     d
 6
3 3Vm
 cos 


3  / 2   
Vo ( rms ) 
  / 6 
3Vm2 sin 2     d
 6
1 3 3
 3 Vm  cos 2
2 4

Figure 10.5
Reference:
Rashid, M.H, Power Electronics:
Circuit, Devices and Applictions,
3rd ed., Pearson, New-Jersey, 2004 25