Chapter 15.1.2.3 DC Drives PPT II Spring 2012
Chapter 15.1.2.3 DC Drives PPT II Spring 2012
Chapter 15.1.2.3 DC Drives PPT II Spring 2012
(P#640)
DC Drives (DC
Motors)
Classification of Motors
Single Three
Phase Phase Shunt Series Compound
Split Phase
Capacitor Squirrel
Wound
Shaded Pole Cage
Difference between AC and DC motor
Both motors serve the same function of converting electrical energy into mechanical
energy,
The most basic difference is the power source. A.C. motors are powered from
alternating current (A.C.) while D.C. motors are powered from direct current (D.C.),
such as batteries, D.C. power supplies or an AC-to-DC power converter.
D.C wound field motors are constructed with brushes and a commutator, which add
to the maintenance, limit the speed and usually reduce the life expectancy of
brushed D.C. motors. A.C. induction motors do not use brushes; they are very
rugged and have long life expectancies.
The final basic difference is speed control. The speed of a D.C. motor is controlled
by varying the armature winding’s current while the speed of an A.C. motor is
controlled by varying the frequency,
15.1 Introduction DC Drives: (Refer Electrical Machines slides)
Advantages of DC Machines (in comparison with AC Drives):
• High starting Torque (Series)
• Easy speed control over wide range (series, separately & shunt)
Is it
Correct?
dc
DC Drive Converters (control speed) can be classified into 3-types
1.Single-Phase drives
2.Three-Phase Drives
1. Single-Phase drives
High Voltage DC (HVDC)
Transmission
50 Hz Asynchronous Connection 60 Hz
500; 800 kV HVDC Transmission
Power Plant Fully Controlled Converter
HVDC
Components
Long Distance
Power Flow
Power Flow
8
DC Drive Converters can be classified into three types: Cont…
2. Three-Phase drives
DC Drive Converters can be classified into three types: Cont…
SCR Iload
3. Dc-dc Converters drives
+
VDC D1 v1(t)
Chapter 3 Chapter 10
di f di
v f R f i f L f di f di f
R f i f Equations
v f Transient Ldt v f Rf i f Lf
v f R f i f L f f dt
f
di f
dt
didt
if
v f R f i f Ldi f
va Ra ia La di adiaeg va Ra ia La adt eg
vva aRR i
a aa a a a eg
i L Ldt
a eg dt
dia
eg K vi f dt dt vaegRKa iv
a
i f La eg
eeg gKKvvi f if
dt
Td K t i f ia Td K t i f ia
TTd KK eg K vi f
t i f iia i d
d
dt f a TdTdKJt idt B TL
TId αΦ J d B TL i
Tωd α φJ dtd
f a
f
B TL
TL characteristics
Td Jdt BMagnetization d
The motor load determines the final operating point on di f
the torque curve. As illustrated in the figure below, v f R f i f L f
when a motor is connected to drive a load, the interaction dt
of torque demanded by the load and the torque dia
v R i L
produced by the motor determines the point of operation.
a a a a eg
dt
eg K vi f
Td K t i f ia
d
Td J B TL
dt
The above graph shows the interaction of DC motor and mechanical load. The
starting torque of the motor is higher than the load torque demanded by the load. The
difference between these two torques forces the motor to rotate. As the motor starts
to rotate and picks up speed, the developed torque decreases .The motor finally
comes to a stable operating point when the two torques balance each other.
READ: Steady State Equations
di f d
t v or s 0
f Rf i f Lf
s0 v f Rf i f Lf
di f
dt dt dt
dia diaf
di
va Ra ia La eg vf vaRf Ri faiaLLfa eg
dt dt
dt
eg va Kv eg K vi f di
R iafi a e g va TRaviKfa Laf i f a eg
i iR
Td K t i f ia d t f a dt
e g K v ωI f d
d e K
Td K t If Ia g Td v J f B TL
i
V
vda RR
T J B
i a I K fTL
ωI dt
adt
a a K v I f
v Td K t i f ia
a
Td B TL
Va I a Ra Va I a Ra d
Td J B TL
Kv I f d fTd
PV dt
Kv
Servo Motor: A servomotor is a rotary actuator that allows for precise control of angular
position, velocity and acceleration.
There are two types of servo motor used in control systems, one is called the field control and the
other is called armature control. Here the second type of armature controlled servo motor, in which
the field is held constant, is taken in consideration.
?
Simulate in
Mat Lab
Simulink
Control DC motor speed
Va Ra I a K v
Va I a Ra
• Control armature voltage, Va
– Voltage control Kv I f
• Control the field current, If Va I a Ra
– Current control
Vf
Kv
• Control the armature current, Ia R
f
Va I a Ra
Control DC Motor Speed
Kv I f
Va () If ()
The base speed of a DC motor is the speed at which it operates while delivering rated torque with rated armature
voltage and field current applied. When the armature voltage is reduced, the motor operates below base speed.
Below base speed, the delivered torque can remain constant, but the delivered mechanical power is reduced in
proportion to the speed reduction. When the field current is reduced, the motor operates above base speed but
delivers torque not exceeding the torque required for the delivered mechanical power to remain at or below rated
power.
READ: Figure 15.4 Characteristics of Separately-Excited Motors
Use armature
voltage control
Rated
speed ECE 442 Power Electronics 20
READ: Figure 15.4 Characteristics of Separately-Excited Motors
Td, Pd
Td Constant=Kt Ia If Pd Constant=T
Pd=T Td=Kt Ia If
Torque, Td
0 Speed ,
Ia , I f
Armature Current (Ia)=Constant; Why?
Va K v I f ω Vt K v I f ω
Ia I
Ra a
Ra
Field Current Field Current If =Vf / Rf
If=Constant
0 Speed ,
Constant: Td, Ia, If Constant: Pd,Va, Ia
E K I
universal motor. It is universal in the sense
that it will
g run equally
v well
Eg K v I a
a
using either an ac or a dc voltage source.
Va ( Ra R f ) I a Eg
Va ( Ra R f ) I a Eg
Eg K v I a Va ( Ra R f ) I a K v
Va ( Ra R f ) I a K v I f
Va ( Ra R f ) I a Eg
Td K t I a I f Td K t I a I f
Va ( Ra R f ) I a K v I f
Td B TL Td B TL
Td K t I a I f
Va ( Ra R f ) I a Va ( Ra R f ) I a
B T
T
d K vLI f
Kv I f
( Ra Speed
Va READ: K
R f ) I a of v I f Motor Control
Series
Td Kt I a I f
• Control the armature voltage, Va
Td B TL
Va ( Ra R f ) I a
Kv I f
Td Constant=Kt Ia If Pd Constant=T
Pd=T Td=Kt Ia If
Torque, Td
0 Speed ,
–Motoring
–Regenerative braking
Braking
–Dynamic braking
–Plugging
Figure 15.7 In variable-speed applications, a drives motor may be operated in one or more modes.
Torque(T)
Speed()
Motoring Mode
++ ++
__ __
++ ++
__ __
If we suddenly reverse the terminals of the source, the net voltage acting on the
armature circuit becomes (Va + Eg ; VaEg; hence input to motor =2Va)The counter-emf
(back emf) Eg of the armature is no longer counter to anything but actually adds to the
supply voltage Va. This net voltage (2Va) would produce an enormous reverse current,
perhaps 50 times greater than the full-load armature current.
Figure Speed versus time curves for various braking methods.
Braking or Reversing DC Motors: Plugging
Stopping and/or reversing the direction of a dc motor merely by reversing the supply
connections to the armature terminals is known as plugging or counter current braking.
As the current in the armature winding reverses direction, it produces a force that tends
to rotate the armature in a direction opposite to its initial rotation.
• This causes the motor to slow down, stop, and then pick up speed in the opposite
direction. Plugging, therefore, allows us to reverse the direction of rotation of a motor.
Figure 15.8 4-Quadrants Speed==E/K
QII =Forward Braking: Va<Eg, Ia -ive QI =Motoring: Va>Eg, Ia all +ive
-Torque=KIa Torque=KIa
QIII =Reverse Motoring: Va>Eg, Ia all -ive QIV =Reverse Breaking: Va<Eg,
The polarity of Eg
can be reversed by Vdc Rectifier
changing the Inverter
Mode
Mode
direction of field
current or by -Io Io
reversing the Rectifier Inverter
armature terminal -Speed==E/K Mode Mode
-Vdc
Ia
Speed() Speed()
Torque(T) Torque(T)
QII =
Forward QI =Motoring
Braking
Speed()
Speed()
Torque(T)
Torque(T)
QIII = QIV =
Reverse Reverse
Motoring Breaking
Car Moving Forward Break Applied Car Moving Forward Accelerator Applied
Torque
Torque
Speed
Speed
Torque Torque
Speed Speed
Car Moving in Reverse Accelerator Applied Car Moving in Reverse Break Applied
Reversing drives Operating modes during reversal:
1. What is the required stop time under normal stopping conditions for the
application? Regain can be the fastest and deceleration doesn't necessarily
require the drive be put in a stop mode.
2. What is the required stop time under drive and/or system fault conditions?
Regen does not occur under these conditions. Dynamic Braking may be
required whether or not the drive is regenerative.
3. How does the user define "emergency" stopping? Is the only concern to get
the motor disconnected from the power source (coast or DB) or is the fastest
deceleration necessary (Regen with a coast or DB backup)?
4. How repetitive is the stopping cycle? The more often, the more heat, and the
more likely regen will be advantageous. Exploring these aspects of the
application will lead to the right decision regarding the need for regen, DB, both,
or possibly neither if coasting is always acceptable.
Modec electric vehicles - factory tour and regenerative-braking
http://www.inference.phy.cam.ac.uk/sustainable/data/modec/tour.html
Battery Charger Battery charger plug
Lithium-ion battery in its cassette The chassis where the battery cassette goes
motor, with one side open revealing motor brain
80 kW motor in situ
Histogram with all the frequencies multiplied by the power: the
area under the graph is a visualization of the total power leaving
or entering the battery. The green area shows the total amount of
regenerated energy; the red area shows the total energy taken
from the battery. See, roughly how much energy-saving is
obtained from having regeneration - it's roughly 15%.
(b) A DC series motor drives an elevator load that requires a constant torque of 200
Q:
N.m. The DC supply voltage is 400 V and the combined resistance of the armature and
series field winding is 0.75 ohm. Neglect rotational losses and armature reaction effect.
(i) The speed of the elevator is controlled by variating the supply DC voltage. At 220V
input voltage and 40A motor current, determine the speed and the horsepower output of
the motor and the efficiency of the system.
(ii) The elevator is controlled by inserting resistance in series with the armature of the
series motor. For the speed of part (i), determine the values of the series resistance,
horsepower output of the motor, and efficiency of the system.
(i) Ea VT I a Ra Rs 220 40 * 0.75 190 V
T 200
E a k a m , T k a I a , k a 5
Ia 40
Ea 190
m 38 rad / sec 363rpm
k a 5
Ea I a 190 * 40
Pout , HP 10.188 HP
746 746
Pin 220 * 40 8800 Watt
Pout 190 * 40
* 100 86.364%
Pin 8800
(ii) Ea VT I a Ra Rs Rexternal
400 190
Ra Rs Rexternal 5.25
40
Rexternal 5.25 0.75 4.5
Pout 190 * 40
* 100 47.5%
Pin 400 * 40
(b)
Q: A DC series motor drives an elevator load that requires a constant torque of 200 N.m.
The DC supply voltage is 400 V and the combined resistance of the armature and series
field winding is 0.75 ohms.
(i) The speed of the elevator is controlled by buck converter. At 50% duty cycle (i.e., D=0.5)
of the chopper, the motor current is 40 amps. Determine the speed and the horsepower
output of the motor and the efficiency of the system.
(ii) Compare between the scheme in part(i) and the method of inserting resistance in
series with the armature of the series motor for the same speed.
TS Vd 400 * 0.5 * (1 0.5)
(i) I LB D (1 D ) 25 A
2L 2 * 0.0001 * 20000
It is clear that the load current (40A) greater than the inductor boundary current.
So, this chopper works in continuous conduction mode.
VT DV s 0.5 * 400 200V
T 200
Ea k a m , T k a I a , k a 5
Ia 40
E a 170
m 34 rad / sec 324.8rpm
k a 5
E I 170 * 40
Pout , HP a a 9.12 HP
746 746
Pin 200 * 40 8000 Watt
P 170 * 40
out * 100 85%
Pin 8000
(ii) E a VT I a Ra Rs Rexternal ,
400 170
Ra Rs Rexternal 5.75
40
Rexternal 5.75 0.75 5 ,
Pout 170 * 40
* 100 42.5%
Pin 400 * 40
It is clear that in using the method of inserting
resistance in series with the armature of the series
motor the efficiency get much lower than using
buck converter in DC motor control
Next DC Motor