DC Motor Tutorial - DR Zainal Salam UTMJB

CHAPTER V Motor Drives
General principles motors Motor drive systems DC motor drives AC motor drives
Power Electronics and Drives (Version 2): Dr. Zainal Salam, UTMJB
Motor: Review of general principles

FORCE
MAGNETIC FIELD CURRENT
" Left Hand" Rule Thumb Force (F) Pointing Finger Magnetic Field (Flux) ( ) Middle Finger Current (I) Flux Density : B = Force : F = B Il A
A : Area; l : length of current carrying wire

Power Electronics and Drives (Version 2): Dr. Zainal Salam, UTMJB 2
Flux in C-core
iron
Leakage flux
+ + + + + + + + + +
air-gap
+ Current into the paper - Current out of the the paper
NOTE: Use right hand "Screw Rule" to determine the direction of flux
Electric - magnetic analogy EMF Current = Resistance V I= R MMF Flux = Reluctance NI =
Air-gap flux densities

MMF=NI
g Area A
Reluctance of air (in the air - gap), g == o A Then, = MMF NIA o = g NI o B= = A g Note that air - gap flux density can be calculated by only knowing the MMF of the coil (NI) and the length of the gap. The flux density is limited by the saturation of the iron (1.6 - 1.8T)
Evolution of motor geometry
+ + + + + + + + + + -
+ + + + + +
+ + + + + +
C--Core
Split air-gap
Simple motor geometry
Torque Production
+
.
current into the paper current out of the paper
Force
++ + +
. .
+ +++
+ + +
. .
Force
TORQUE PRODUCTION
"SLOTTING"
. . . .
Electric Motor Drives

DEFINITION: Electric drives for motor is used to draw electrical energy from the mains and supply the electrical energy to the motor at whatever voltage, current and frequency necessary to achieve the desired mechanical output. General arrangement for variable speed drive.
Power Source Controller Power Electronics Converter Motor Process/ Load
Process Control Computer
Examples of drive systems

Power Source Input Command Controller Variable speed drive Motor Load sensor
Power Electronics Converter
Servo system
Power Source Power Electronics Converter

Desired temperature Desired humidity
Variable speed drive Motor Air conditioner
Temperature and humidity
Building Cooling
System Controller
Indoor temperature and humidity
Indoor sensors
Air-conditioning system
DC Motor Drives
Advantages of DC motor
Ease of control Deliver high starting torque Near-linear performance
Disadvantages:
High maintenance Large and expensive (compared to induction motor) Not suitable for high-speed operation due to commutator and brushes Not suitable in explosive or very clean environment
DC motor drives:
The drive is relatively simple and cheap (compared to induction motor drives. But DC motor itself is more expensive Due to the numerous disadvantages of DC motor, it is getting less popular
Separately Excited DC Motor

ia, I a + va, Va Ra + Eg La Lf Rf J Td B TL if, I f + vf , I f
The field windings is used to excite the field flux. Armature current is supplied to the rotor via brush and commutator for the mechanical work. Interaction of field flux and armature current in the rotor produces torque.
Operation
When a separately excited motor is excited by a field current of if and an armature current of ia flows in the circuit, the motor develops a back emf and a torque to balance the load torque at a particular speed. The if is independent of the ia .Each windings are supplied separately. Any change in the armature current has no effect on the field current. The if is normally much less than the ia.
11
Field and armature equations

Instantaneous field current : di f vf = Rf if + Lf dt where R f and L f are the field resistor and inductor, respectively Instantaneous armature current : dia + eg va = Ra ia + La dt where R f and L f are the armature resistor and inductor, respectively. The motor back emf, which is also known as speed voltage, is expressed as : eg = K vi f where K v is the motor voltage constant and is the motor speed in rad/sec.
Basic torque equation

The torque develped by the motor is : Td = K t i f ia where ( K t = K v ) is the torque constant. Sometimes it is written as : Td = K tia For normal operation, the developed torque must be equal to the load torque plus the friction and inertia, i.e. : d + B + TL Td = J dt where B : viscous friction constant, N.m/rad/s TL : load torque, N.m J : inertia of the motor
Steady-state operations
Ia If + Va Ra La + Eg Rf + Va Lf
Under steady - state operations, time derivatives is zero. Assuming the motor is not saturated. For field circuit, Vf = I f Rf The back emf is given by : E g = K vI f The armature circuit Va = I a Ra + E g = I a Ra + K vI f
Steady-state torque and speed

The motor speed can be easily derived : Va I a Ra = Kv I f If Ra is a small value (which is usual), or when the motor is lightly loaded, i.e. I a is small, V = a Kv I f That is if the field current is kept constant, the motor speed depends only on the supply voltage. The developed torque is : Td = K t I f I a = B + TL The required power is : Pd = Td
Torque and speed control

From the derivation, several important facts can be deduced for steady-state operation of DC motor. For a fixed field current, or flux (If) , the torque demand can be satisfied by varying the armature current (Ia). The motor speed can be varied by:
controlling Va (voltage control) controlling Vf (field control)
These observations leads to the application of variable DC voltage to control the speed and torque of DC motor.
16
Example
Consider a 500V, 10kW , 20A rated- DC motor with armature resistance of 1 ohm. When supplied at 500V, the UNLOADED motor runs at 1040 rev/min, drawing a current of 0.8A (ideally current is zero at no-load).
Estimate the full load speed at rated values Estimate the no-load speed at 250V.
Va = I a Ra + E g = I a Ra + K vI f V I R 500 0.8(1) = 0.48 Kv I f = a a a = 1040 At full load and rated value, V I R 500 20(1) fl = a a a = = 1000 rev/min 0.48 Kv I f At no - load and voltage at 250V, Va = I a Ra + K vI f V I R 250 0.8(1) = a a a= = 519 rev/min 0.48 Kv I f (Note : in reality, this equation strictly rad/sec)
17
Variable speed operation

Torque 125V 250V 375V
Rated torque)
500V
250
500
750
1000
Speed (rev/min)
Family of steady-state torque speed curves for a range of armature voltage can be drawn as above. The speed of DC motor can simply be set by applying the correct voltage. Note that speed variation from no-load to full load (rated) can be quite small. It depends on the armature resistance.
Base Speed and Fieldweakening

Torque Power
Base speed:base the speed which correspond to the rated Va, Constant Torque region ( > base, )
rated Ia and rated If. Ia and If are maintained constant to met torque demand. Va is varied to control the speed. Power increases with speed Va is maintained at the rated value and if is reduced to increase speed . However, the power developed by the motor (= torque x speed) remains constant. Known as field weakening.
base
Constant Power region ( > base, )
Four quadrant operation

FOUR QUADRAN OPERATION I
Eg
Vd
TORQUE (+)
Eg
Va
FORWARD MOTORING
1
SPEED (+)
3
REVERSE MOTORING I
B I
Eg
Vc
Eg
Vb
20
Quadrant 1: Forward Motoring

running at forward direction operating point at A applied voltage is greater than back emf positive current flows into the armature the power drawn from the supply (Va.Ia) is positive
21
Quadrant 2: Forward Braking

If with the motor running at position A, the supply voltage is suddenly reduced to Vb (which is below the back emf value), the current will reverse direction.Operating point is shifted to B. Since current is negative, power is negative. Power is supplied from machine to the supply. Behave like a generator. The combined effect of load torque and negative machine torque will cause the speed to fall. Back emf again falls below the applied voltage, Vb. The current becomes positive again. Motor settles back to Quadrant 1 but at lower speed corresponding to the lower supply voltage.
Regenerative Braking
During the deceleration phase, kinetic energy fromthe motor and load inertia is returned to the supply. This is an example of regenerative braking. It occurs naturally every time we reduce the voltage to reduce the speed. If we wish the motor to operate continuously at position B, the machine have to be driven by mechanical source. The mechanical source is a prime mover. We must force the prime mover it to run faster so that the generated emf will be greater than Va.
23
Quadrant 3 and 4
Quadrant 3:Reverse motoring.
Operating point C. Speed and torque is negative In practice, only need to change the polarity of the armature supply
Quadrant 4:Reverse braking.

Operating point D Same explanation as quadrant-2, but with negative speed. Note that torque is positive
24
DC Drive types
For low cost, low power applications (up to about 10kW) a single phase rectifiers can be used.Lowpower, economical drives can also be constructed using single phase half-wave rectifier with freewheeling diodes. For higher power drives (up to MW range), three-phase supply with three-phase rectifier is normally employed. For low to medium power DC supplied drives (such as battery), a chopper (DC-DC converter) is used. Is is also common to find in some applications (especially locomotives), choppers are used in conjunction with uncontrolled bridge rectifiers. They are normally rated at medium power (100s of kW)
25
Drive types
Using Switched-mode:
Full bridge dc-dc converter: 4 quadrant operation Half bridge: 2 quadrant Simple single-quadrant converter (buck): 1 quadrant
Using line-frequency Controlled Rectifier:

Normally in high power drives Using SCR and changing firing angle The line current is unidirectional, but the output voltage can reverse polarity. Hence two quadrant operation is possible.
Thyristor/SCR drives
Three/single phase supply Single phase supply
Control and Speed SCR reference firing Current Speed
Current sensor
T Tachometer
Mains operated. Variable DC voltages are obtained from SCR (controlled) rectifiers. Normally field rectifier have much lower ratings than the armature rectifier. It is only used to establish the flux.
27
Continuous/Discontinuous current
The key reason for successful DC drive operation is due to the large armature inductance La. Large La allows for almost constant armature current (with small ripple) due to current filtering effect of L. (Refer to notes on Rectifier). Average value of the ripple current is zero. No significant effect on the torque. If La is not large enough, or when the motor is lightly loaded, or if supply is single phase (halfwave), discontinuous current may occur. Effect of discontinuous current: Output voltage of rectifier rises; motor speed goes higher. In openloop operation the speed is poorly regulated. Worthwhile to add extra inductance in series with the armature inductance.
Basic single-phase drive

Ia If Ta1
+ vs _
Ta3
Ra
+
Lf
Tf3
Tf1
+ vs _
Va
La
+
Vf Lf
Ta4
Ta2
Eg
Tf2
Tf4
ARMATURE
FIELD
For continuous current, armature voltage is : 2Vm cos a Va = Armature (DC) current is : Va E g ; E g is the back emf Ia = Ra Field voltage : 2Vm cos f Vf =
Basic three-phase drive

Ta1
_ van _ vbn _ vcn + Ta3 + + Ta5 Ta2 Ta6 Ta4 +
Ia
If
Ra La
+
Lf Vf
Va
Lf
Eg
ARMATURE
FIELD
Armature voltage : 3Vm, L L cos a Va = Armature (DC) current is : Va VE ; VE is the back emf Ia = Ra If single phase is used for field : 2V V f = m cos f
Example
A saperately excited DC motor has a constsnt torque load of 60 Nm. The motor is driven by s full - wave converter connected to a 240V ac supply. The field constant of the motor KI f = 2.5 and the armature resistance is 2 ohm. Calculate the triggering angle for the motor to opearte at 200 rpm. Assume the current is continuous. For continuous current, 2V Va = m cos a And Va = I a Ra + VE Where VE is the back emf, i.e VE = KI f = 2.5 and T = KI f I a T 2Vm Ra + KI f cos a = KI f T 1 Ra + KI f a = cos 2Vm KI f = cos 1 2 2 240V = 62.32 o
200 60 2 + 2.5 2 2.5 60
Example
A rectifier-DC motor drive is supplied by a three-phase, full controlled SCR bridge 240Vrms/50Hz per-phase. The field is supplied by a single-phase 240V rms/50Hz, with uncontrolled diode bridge rectifier. The field current is set as maximum as possible. The separately excited DC motor characteristics is given as follows: Armature resistance:Ra = 0.3 ohm Field resistance: Rf =175 ohm Motor constant: KV =1.5 V/A-rad/s Assume the inductance of the armature and field circuit is large enough to ensure continuous and ripple-free currents. If the delay angle of the armature converter (a) is 45 degrees and the required armature current is 30A, a) Calculate the developed torque, Td. b) Speed of the motor, (rad/s) c) If the polarity of the field current is reversed, the motor back emf will reverse. For the same armature current of 30A, determine the required delay angle of the armature converter.
Since the fiels current is maximum, = 0. 2V 2 2 240 (a ) V f = m cos f = cos 0 = 216V Vf 216V If = = = 1.235 A 175 Rf Td = K v I f I a = 1.5 1.235 30 = 55.58 Nm
32
Example (cont)
(b) Motor speed Eg = Kv I f E g = Va I a Ra The armature is supplied by three - phase with a = 45o , 3Vm, L L 3 3 2 240 cos a = cos 45o = 396.3V Va = E g = Va I a Ra = 396.3 30 0.3 = 387.3V 387.3V = = 209.06 rad / sec 1.5 1.235 (c) Now the polarity of field is reversed, then E g = 387.3V and Va = E g + I a Ra = 387.3 + 30 0.3 = 378.3V Also, 3Vm, L L cos a Va = Va = cos 1 (378.5) a = cos 1 3V 3 3 2 240 m, L L = 132.4 o
Reversal
DC motor in inherently bi-directional. Hence no-problem to reverse the direction. It can be a motor or generator. But the rectifier is unidirectional, because the thyristors are unidirectional devices. However, if the rectifier is fully controlled, it can be operated to become negative DC voltage, by making firing angle greater than 90 degrees, Reversal can be achieved by:
armature reversal using contactors (2 quadrant) field reversal using contactors (2 quadrant) double converter (full 4 quadrants)
Drive reversing using armature or field contactors

DRIVE REVERSING USING ARMATURE OR FIELD CONTACTORS CONTACTOR 1 2 Vs 1 2 FIELD
CONTACTOR AT THE ARMATURE SIDE (SINGLE PHASE SYSTEM)
Va
Eg
Va
Eg
Va
Eg
CONTACTOR AT POSITION 1 (MOTORING)
CONTACTOR AT POSITION 2 (BRAKING/ GENERATION)
CONTACTOR AT POSITION 2 (RESERVE)
35
Drive reversing using double converters

converter 1 converter 2
Principle of reversal Vs
FIELD
Practical circuit

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CHAPTER V Motor Drives

Motor: Review of general principles

MAGNETIC FIELD CURRENT

A : Area; l : length of current carrying wire

+ Current into the paper - Current out of the the paper

Electric - magnetic analogy EMF Current = Resistance V I= R MMF Flux = Reluctance NI =

Air-gap flux densities

Evolution of motor geometry

Simple motor geometry

current into the paper current out of the paper

Electric Motor Drives

Process Control Computer

Examples of drive systems

Power Electronics Converter

Power Source Power Electronics Converter

Variable speed drive Motor Air conditioner

Temperature and humidity

Indoor temperature and humidity

Separately Excited DC Motor

Field and armature equations

Basic torque equation

Steady-state torque and speed

Torque and speed control

Variable speed operation

Base Speed and Fieldweakening

Constant Power region ( > base, )

Four quadrant operation

Quadrant 1: Forward Motoring

Quadrant 2: Forward Braking

Quadrant 4:Reverse braking.

Using line-frequency Controlled Rectifier:

Control and Speed SCR reference firing Current Speed

Basic single-phase drive

Basic three-phase drive

200 60 2 + 2.5 2 2.5 60

Drive reversing using armature or field contactors

CONTACTOR AT THE ARMATURE SIDE (SINGLE PHASE SYSTEM)

CONTACTOR AT POSITION 1 (MOTORING)

CONTACTOR AT POSITION 2 (BRAKING/ GENERATION)

CONTACTOR AT POSITION 2 (RESERVE)

Drive reversing using double converters

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