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Chapter Two
DC Drives Using Controlled
Rectifiers

Introduction
The conventional way for speed control of dc shunt motor is Ward
Leonard Method which is achieved by varying the applied voltage to
the armature. This method was introduced in 1891. The connection is
shown in the figure below.

G M

Ward Leonard Method Of Speed Control

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Introduction
In the above system, M is the main DC motor whose speed is to be
controlled, and G is a separately excited DC generator. The generator
G is driven by a 3 phase driving motor which may be an induction
motor or a synchronous motor.

The combination of an AC driving motor and the DC generator is

called the Motor-Generator (M-G) set.

The voltage of the generator is changed by changing the generator

field current. This voltage when directly applied to the armature of
the main DC motor, the speed of the motor M changes. The motor
field current is kept constant so that the motor field flux also remains
constant. While the speed of the motor is controlled, the motor
armature current is kept equal to its rated value.

Introduction
• The generated field current is varied such that the armature
voltage changes from zero to its rated value. The speed will change
from zero to the base speed. Since the speed control is carried out
with the rated current and constant motor field flux, a constant
torque is directly proportional to the armature current.
• Hence, with the armature voltage control method, constant torque
and variable power drive are obtained from speed below the base
speed. The field flux control method is used when the speed is
above the base speed.
• The driving motor can be induction or synchronous motor. An
induction motor operates at a lagging power factor. The
synchronous motor may be operated at a leading power factor by
over-excitation of its field. Leading reactive power is generated by
an over-excited synchronous motor. It compensates for the lagging
reactive power taken by other inductive loads. Thus, the power
factor is improved.

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Introduction
• In another form of Ward Leonard drive, non-electrical prime movers
can also be used. For example – In dc electric locomotive, dc
generator is driven by a diesel engine or a gas turbine In this
system.
Advantages of Ward Leonard Drives
• Smooth speed control of DC motor over a wide range in both
directions is possible.
• The lagging reactive volt-amperes are compensated by using an
overexcited synchronous motor as the drive and thus, the overall
power factor can be improved.
Disadvantages of Ward Leonard Drives
• The initial cost of the system is high.
• Larger size and weight.
• Maintenance of the system is frequent.
• Lower efficiency and higher losses.
• The drive produces more noise.

DC Shunt Motor Drive

DC Drive Using Controlled Rectifier is the controlled rectifiers
used to control the speed of the motor by controlling the applied
voltage to the armature and field circuits.

DC Shunt Motor Drive

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DC Shunt Motor Drive

DC Shunt Motor Drive

Va = Eb + I a Ra
Eb = K b N Where N in RPM
Eb
Kb = in V/RPM
N

Eb = KV  Where the ω is the angular speed in rad / Sec

Eb
KV = in V / (rad / Sec) or V- Sec / rad

 = 2 N / 60 Where N in RPM
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DC Shunt Motor Drive

T = K1  I a = K t I a For constant field current

T
Kt = in (N-m / A)
Ia
KV = K t
2 N T
Po =  T = Output Power
60

DC Drive Using Single Phase Full Wave Half

Controlled Rectifier

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DC Drive Using Single Phase Full Wave Full

Controlled Rectifier

DC Drive Using Single Phase Full Wave Full

Controlled Rectifier With FWD

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DC Drive Using Three Phase Full Wave Full

Controlled Rectifier

DC Shunt Motor Drive

Example: A Separately excited DC motor has a constant torque load of
60 Nm. The motor is driven by a single phase full wave converter
(without free wheeling diode) connected to a 240 V AC supply. The
motor constant is 2.5 (V-Sec/rad) and the armature resistance is 2 Ω.
Calculate the firing angle for the motor to operate at 200 rpm. Assume
the current is constant.
Solution:
2Vm
Va = cos  & Va = I a Ra + Eb

Eb = K V  Eb= 2.5 ω
T = Kt Ia
T
Ia = & KV = K t
Kt
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DC Shunt Motor Drive

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DC Shunt Motor Drive

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DC Shunt Motor Drive

Example: A single phase full wave full controlled bridge converter is

used to control the speed of separately-excited d.c. motor. The
converter is connected to a single-phase 230 V, 50 Hz supply. The
armature resistance is Ra = 0.50 Ω and the armature circuit inductance
is La = 10 mH. The motor voltage constant is 0.07 V/rpm, the d.c. motor
runs at 1200 rpm and carries an armature current of 35 A. Assume that
the motor current is continuous, determine:
i) The firing angle α.
ii) The power delivered to the motor.
iii) The power factor of the supply.
Solution

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Single-Phase Dual Converter Drives

In some industrial applications, dc motor may require to be
operated in two directions without a switching changeover. In this
case, duplication of power electronics converters is used.
Figure below shows a simple dual converter drive circuit diagram
which consists of two single-phase full bridge converters connected
in inverse-parallel supplying a dc motor.
One bridge for one direction of motor current and the other bridge
for the opposite direction of current.

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DC Series Motor Drive

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DC Series Motor Drive

Eb = K1   Ia
Eb = KI a

T = K 2I a   Ia & Ia = I f
T = KI a
2

The Constant K unit is N -m/A2 is the same constant in

back EMF equation.
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DC Series Motor Drive

Example: The speed of DC series motor is controlled by Single Phase
Full Wave Half Controlled Bridge Converter (Single Phase Semi Converter)
supplied from 240 V AC supply. The combined armature and field
resistance is 0.3 Ω. Assuming continuous and ripple free motor current
with speed of 1000 rpm and K= 0.03 N-m/amp2. For a firing angle of 35
°. determine motor current & motor torque.

Solution:
Vm
VO ( av) = (1 + cos  )

VO( av) = Eb + I a ( Ra + Rse )
Vm
(1 + cos  ) = Eb + I a ( Ra + Rse )
 =
KI a + I a ( Ra + Rse )
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DC Series Motor Drive

K + (Ra + Rse )I a

Vm
(1 + cos  ) =

2  240   2 1000  
(1 + cos 35) = (0.03)   + 0.3 I a
   60  
108.09  1.8191 = 196.62 = 3.44I a
196.62
Ia = = 57.1 A
3.44
T = KI a2 = (0.03)(57.1) 2 = 97.81 N − m
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Effect of Source Inductance (Overlap Problem)

➢ In the previous cases the input ac power sources supplying an ac to dc
power converter have been assumed to be ideal with no source impedance.
➢ In most practical situations. Most ac to dc converters are supplied from
transformers. The series impedance of the transformer can not always be
neglected.
➢ Even if no transformer is used, the impedance of the feeder line comes in
series with the source.
➢ With source inductance present the output voltage of a converter does
not remain constant for a given firing angle. Instead it drops gradually. The
converter output voltage and input current waveforms also change
significantly.

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Effect of Source Inductance

It is assumed that the thyristors T3 and T4

were conducting at t = 0. T1 and T2 are
fired at ωt = α. If there was no source
inductance T3 and T4 would have
commutated as soon as T1 and T2 are
turned ON. The input current polarity
would have changed instantaneously.
However, if a source inductance is
present the commutation and change of
input current polarity can not be
instantaneous. Therefore, when T1 and
T2 are turned ON T3 T4 does not
commutate immediately. Instead, for
some interval all four thyristors continue
to conduct as shown in Figure. This
interval is called “overlap” interval. The
angle µ is called overlap (commutation)
angle.
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Effect of Source Inductance

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Effect of Source Inductance

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Effect of Source Inductance

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Effect of Source Inductance

Example: A single phase full wave full controlled rectifier without freewheeling
diode is connected to DC shunt motor. The AC supply voltage is 230 V, 60 Hz. If the
firing angle is 30°, the DC output (armature) current is 17.3 A, the source
inductance is 1.4 mH, and armature resistance is 0.5 Ω calculate:
i) Overlap angle.
ii) DC output voltage.
iii) Motor speed if the voltage constant (Kb) is 0.16 V/rpm.
iv) Supply current.
Solution:
i) Overlap angle

ii) DC output voltage

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Effect of Source Inductance

iii) Motor speed

𝑬𝒃 = 𝑽𝒅𝒄 − 𝑰𝒂 𝑹𝒂
= 𝟏𝟕𝟑. 𝟓 − 𝟏𝟕. 𝟑 ∗ 𝟎. 𝟓
= 𝟏𝟔𝟒. 𝟖𝟓 𝑽
𝑬𝒃 = 𝑲𝒃 ∗ 𝑵

𝑬𝒃 𝟏𝟔𝟒. 𝟖𝟓
𝑵= = = 𝟏𝟎𝟑𝟎. 𝟑𝟏 𝒓𝒑𝒎
𝑲 𝟎. 𝟏𝟔

iii) Supply current

FOUR-QUADRANT OPERATION OF DC MACHINE

A d.c. machine can operate as a motor, as a generator or as a brake as
illustrated in the following diagram. It has been assumed in this
diagram that the field current is fixed (in magnitude and direction)
and the armature reaction is negligible.

Assumptions:
The positive or forward speed is arbitrarily chosen in counterclo-
ckwise direction (it can also be chosen as clockwise). The positive
torque is in the direction that will produce acceleration in forward
speed, as shown in Fig.
The plane of motor operation is divided into four quadrants, thus four
modes of operation. The quadrants are marked as: I, II, III and IV.

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Four-quadrant operation of a d.c. motor.

Quadrant I
Both torque and speed are positive – the motor rotates in forward
direction, which is in the same direction as the motor torque. The
power of the motor is the product of the speed and torque (P = Te ω),
therefore the power of the motor is positive. Energy is converted from
electrical form to mechanical form, which is used to rotate the motor.
The mode of operation is known as forward motoring.
Quadrant II
The speed is in forward direction but the motor torque is in opposite
direction or negative value. The torque produced by the motor is used
to ‘brake’ the forward rotation of the motor. The mechanical energy
during the braking is converted to electrical energy – thus the flow of
energy is from the mechanical system to the electrical system. The
product of the torque and speed is negative thus the power is negative.
motor operates in braking mode. The mode of operation is known as
forward braking.

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Quadrant III
The speed and the torque of the motor are in the same direction but
both are negative. The reverse electrical torque is used to rotate the
motor in reverse direction. The power, i.e. the product of the torque
and speed, is positive implying that the motor operates in motoring
mode. The energy is converted from electrical form to mechanical
form. This mode of operation is known as reverse motoring.

Quadrant IV
The speed is in reverse direction but the torque is positive. The motor
torque is used to „brake‟ the reverse rotation of the motor. The
mechanical energy gained during the braking is converted to electrical
form, thus power flow from the mechanical system to the electrical
system. The product of the speed and torque is negative implying that
the motor operates in braking mode. This mode of operation is known
as reverse braking.

ELECTRICAL BRAKING OF DC MOTORS

A motor is said to be in braking mode when the motor torque and
motor speed are in opposite direction. If Eb becomes ˃ Va for any
reasons, then Ia will become negative (reverse) and the motor torque
will become in the same direction of load torque; which opposes
rotation. Hence the speed will be reduced (since negative dynamic
torque is acting on the motor shaft) as described in the following
equations.

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Types of d.c. Motor Electric Braking

There are three types of electrical braking applied to the d.c. motors,
namely, regenerative braking, plugging braking and dynamic breaking.
1. Regenerative Braking

This type of braking happen when the motor speed increases above
the no-load speed ωo (for example, lowering of a load by electrically
operated winch and when an electric train goes downhill). The
mechanical energy in this type of braking is converted into electrical
energy, part of which is returned to the supply and the rest of the
energy is lost in the machine.

Considering now a separately-excited d.c. motor in regenerative

mode):

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2. Plugging
In this method the polarity of the applied terminal voltage of the
motor is reversed. As a result the motor torque reverses its direction
and acts as a brake to the motor shaft by reducing its speed to zero.
At this instant, i.e. when , the supply must be switched off otherwise
the motor will run in reverse direction with negative speed. Fig. below
shows braking of separately-excited motor by plugging method.

It is important that, during voltage reversal an external resistance Rx

should be inserted with the armature circuit to limit the braking
current.

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3. Dynamic Braking
This method of braking the motor is disconnected from the supply
and operated as a generator by the kinetic energy of rotor. The kinetic
energy is then dissipated in an external resistance connected across
the motor. With this technique, the energy required from the supply
to brake the motor is eliminated as compared to the previous
plugging method. This method of braking can be applied to brake dc
motors, synchronous ac motors as well as ac induction motors and
generally referred to as Rheostatic Braking.

Example: A 30 kW, 415 V dc shunt motor is braked by plugging. The

armature resistance of the motor is 0.1 Ω and the full load armature
current is 100 A at full load speed of 600 rpm. Calculate:
i) The value of the external resistance Rx to be placed in series with the
armature circuit to limit braking current to 164 A.
ii) the braking torque obtained from the motor.
Solution:

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Example: A 600 V dc shunt motor having an efficiency of 80%

operates a hoist having an efficiency of 75% . Determine the current
taken from the supply when the hoist raise the load of 450 kg at
speed of 3 m/s. If rheostat braking is used to brake the motor, what is
the value of the external resistance must be put in series with the
armature circuit in order to lower the same load at the same speed?

Solution :

When the load is lowered, the motor will operate as a generator. The
output of the generator will be dissipated in the resistance.

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