• DC motors and performance • Starting and braking • Speed control • Controlled rectifier fed drives • Power factor improvement • Chopper controlled DC drives • Industrial application of DC drives DC DRIVE ELECTRIC DRIVE: Systems employed for motion control are called drives. DC DRIVES: Electric drives that use DC motors as the prime movers Dc motor have 2 types depends on the connection of field and armature. APPLICATIONS: Transportation system, rolling mills, paper mills, textilemills, machine tools, fans, pumps, robots, washing machines etc. Motion control may be translational, rotational or combination of Both DC drives can be classified, in general, into three types: – Single-phase drives – Three-phase drives – DC-DC converter drives . DC DRIVE Advantages of Electric Drives : •Flexible control characteristics •Starting and braking is easy and simple •Provides a wide rangeof torques over a wide range of speeds (both ac and dc motor) •Availability of wide range of electric power •Works to almost any type of environmental conditions •No exhaust gases emitted •Capable of operating in all 4 quadrants of torque– speed
by John Wiley & Sons, Inc. Switches: An Overview 2-2-33 CONTROLLED RECTIFIER FED DRIVES
• Controlled rectifiers provide a variable dc output voltage from a fixed ac
voltage, whereas a dc-dc converter can provide a variable dc voltage from a fixed dc voltage. • Due to their ability to supply a continuously variable dc voltage, controlled rectifiers and dc-dc converters made a revolution in modern industrial control equipment and variable-speed drives, with power levels ranging from fractional horsepower to several megawatts. • Controlled rectifiers are generally used for the speed control of dc motors. • The alternative form would be a diode rectifier followed by dc-dc converter. Controlled Rectifier- and DC-DC Converter-Fed Drives Basic Characteristics of Shunt DC Motors
• The motor speed can be varied by
– controlling the armature voltage Va, known as voltage control; – controlling the field current If, known as field control – torque demand, which corresponds to an armature current Ia, for a fixed field current If. • The speed, which corresponds to the rated armature voltage, rated field current and rated armature current, is known as the rated (or base) speed. Basic Characteristics of Series DC Motors
• The motor speed can be varied by
– controlling the armature voltage Va, known as voltage control; – armature current Ia, which is a measure of the torque demand. • A series motor can provide a high torque, especially at starting; and for this reason, series motors are commonly used in traction applications. OPERATING MODES • In variable-speed applications, a dc motor may be operating in one or more modes: – motoring, – regenerative braking, – dynamic braking, – plugging, and – four quadrants. Motoring: The arrangements for motoring are shown in Figure . Back emf Eg is less than supply voltage Va. Both armature and field currents are positive. The motor develops torque to meet the load demand. OPERATING MODES Regenerative braking: • The arrangements for regenerative braking are shown in Figure. • The motor acts as a generator and develops an induced voltage Eg. Eg must be greater than supply voltage Va. • The armature current is negative, but the field current is positive. • The kinetic energy of the motor is returned to the supply. . OPERATING MODES Dynamic braking: • The arrangements shown in Figure are similar to those of regenerative braking, except the supply voltage Va is replaced by a braking resistance Rb,. • The kinetic energy of the motor is dissipated in Rb. OPERATING MODES Plugging: • Plugging is a type of braking. The connections for plugging are shown in Figure • The armature terminals are reversed while running. The supply voltage Va and the induced voltage Eg act in the same direction. • The armature current is reversed, thereby producing a braking torque. The field current is positive. • For a series motor, either the armature terminals or field terminals should be reversed, but not both. OPERATING MODES Four Quadrants: • Figure shows the polarities of the supply voltage Va, back emf Eg, and armature current Ia for a separately excited motor. SINGLE-PHASE DRIVES • If the armature circuit of a dc motor is connected to the output of a single-phase controlled rectifier, the armature voltage can be varied by varying the delay angle of the converter aa. • The basic circuit agreement for a single-phase converter-fed separately excited motor is shown in Figure • At a low delay angle, the armature current may be discontinuous, and this would increase the losses in the motor. • A smoothing inductor, Lm, is normally connected in series with the armature circuit to reduce the ripple current to an acceptable magnitude. • A converter is also applied in the field circuit to control the field current by varying the delay angle af. SINGLE-PHASE DRIVES
• Depending on the type of single-phase converters, single-phase
drives may be subdivided into: – Single-phase half-wave-converter drives. – Single-phase semi converter drives. – Single-phase full-converter drives. – Single-phase dual-converter drives. SINGLE-PHASE HALF-WAVE-CONVERTER DRIVES • A single-phase half-wave converter feeds a dc motor, as shown below. • The armature current is normally discontinuous unless a very large inductor is connected in the armature circuit. • A freewheeling diode is always required for a dc motor load and it is a one-quadrant drive. • The applications of this drive are limited to the 0.5 kW power level. • Figure shows the waveforms for a highly inductive load. • A half-wave converter in the field circuit would increase the magnetic losses of the motor due to a high ripple content on the field excitation current. SINGLE-PHASE HALF-WAVE-CONVERTER DRIVES SINGLE-PHASE FULL-WAVE-CONVERTER DRIVES • The armature voltage is varied by a single-phase full-wave converter, as shown in Figure • It is a two-quadrant drive, as shown in Figure , and is limited to applications up to 15 kW. • The armature converter gives + Va or - Va, and allows operation in the first and fourth quadrants. • During regeneration for reversing the direction of power flow, the back emf of the motor can be reversed by reversing the field excitation. SINGLE-PHASE FULL-WAVE-CONVERTER DRIVES
• The converter in the field circuit could be a full, or even a dual
converter. • The reversal of the armature or field allows operation in the second and third quadrants. • The current waveforms for a highly inductive load are shown in Figure for powering action. SINGLE-PHASE FULL-WAVE-CONVERTER DRIVES
• The converter in the field circuit could be a full, or even a dual
converter. • The reversal of the armature or field allows operation in the second and third quadrants. • The current waveforms for a highly inductive load are shown in Figure for powering action. SINGLE-PHASE DUAL-CONVERTER DRIVES • Two single-phase full-wave converters are connected. • Either converter 1 operates to supply a positive armature voltage, Va, or converter 2 operates to supply a negative armature voltage, - Va. • Converter 1 provides operation in the first and fourth quadrants, and converter 2, in the second and third quadrants. • It is a four-quadrant drive and permits four modes of operation: forward powering, forward braking (regeneration), reverse powering, and reverse braking (regeneration). • It is limited to applications up to 15 kW. The field converter could be a full-wave or a dual converter. SINGLE-PHASE DUAL-CONVERTER DRIVES THREE-PHASE DRIVES • The armature circuit is connected to the output of a three-phase controlled rectifier. • Three-phase drives are used for high-power applications up to megawatt power levels. • The ripple frequency of the armature voltage is higher than that of single-phase drives and it requires less inductance in the armature circuit to reduce the armature ripple current. • The armature current is mostly continuous, and therefore the motor performance is better compared with that of single-phase drives. • Similar to the single-phase drives, three-phase drives may also be subdivided into: – Three-phase half-wave-converter drives. – Three-phase semiconverter drives. – Three-phase full-converter drives. – Three-phase dual-converter drives. Three-Phase Half-Wave-Converter Drives THREE-PHASE FULL-WAVE-CONVERTER DRIVES • A three-phase full-wave-converter drive is a two-quadrant drive without any field reversal, and is limited to applications up to 1500 kW. • During regeneration for reversing the direction of power • However, the back emf of the motor is reversed by reversing the field excitation. • The converter in the field circuit should be a single- or three-phase full converter. THREE-PHASE DUAL-CONVERTER DRIVES • Two three-phase full-wave converters are connected in an arrangement similar to Figure • Either converter 1 operates to supply a positive armature voltage, Va or converter 2 operates to supply a negative armature voltage, -Va. • It is a four-quadrant drive and is limited to applications up to 1500 kW. • The field converter can be a full-wave converter. • If converter 1 operates with a delay angle of CHOPPER • Chopper is a static device. • A variable dc voltage is obtained from a constant dc voltage source. • Also known as dc-to-dc converter. • Widely used for motor control. • Also used in regenerative braking. • Thyristor converter offers greater efficiency, faster response, lower maintenance, smaller size and smooth control. CHOPPER FED DC DRIVES
• A dc chopper is connected between a fixed-voltage
dc source and dc motor to vary the armature voltage. • A chopper is a high speed on/off semiconductor switch which connects source to load and disconnects the load from source at a fast speed. • Choppers are used to get variable dc voltage from a dc source of fixed voltage. • Chopper circuits are used to control both separately excited and Series circuits. ADVANTAGES OF CHOPPER CIRCUITS
• Ripple content in the output is small.
• Peak/average and rms/average current ratios are small. • The chopper is supplied from a constant dc voltage using batteries. • Current drawn by the chopper is smaller than in phase controlled converters. • Chopper circuit is simple and can be modified to provide regeneration and the control is also simple. CONTROL MODES OF DC CHOPPER DRIVE
1. Power(or acceleration) control
2. Regenerative brake control 3. Rheostatic brake control 4. Combined Regenerative and Rheostatic Brake Control POWER CONTROL DC chopper equation for : Vout =DVs Vout = Va for the motor.
•Power increase as Va increase by increasing the Vs to the chopper.
•Ia increase as Va increase and increase the power of the motor. WAVEFORM SUMMARY (Highly Inductive Load)
Ripple-free Armature Current
Armature Voltage: Va kVs Power suplpied: Po Va I a kVs I a Input Resistance: Vs Vs Req I s kIa REGENERATIVE BRAKE CONTROL EQUATIONS
Voltage across transistor: Minimum Braking Speed: Vch (1 k )Vs Rm I a Regenerated power: min Kv I f Pg I aVs (1 k ) min Voltage when motor acting as generator: Maximum Braking Speed: E g (1 k )Vs Rm I a Vs Rm I a max Equivalent load resistance: Kv I f Kv I f EgVs max Req (1 k ) Rm Ia Ia RHEOSTATIC BRAKE CONTROL WAVEFORM SUMMARY EQUATIONS
• The average current in the braking resistor is
I b I a (1 k )
• The average voltage across the braking resistor is
Vb Rb I a (1 k ) • The equivalent load resistance of the generator Vb Req Rb (1 k ) Rm Ia • The power dissipated in the resistor Rb is
Pb I a2 Rb (1 k ) COMBINED REGENERATIVE AND RHEOSTATIC BRAKE CONTROL COMBINED REGENERATIVE AND RHEOSTATIC BRAKE CONTROL (CONT.)
• Used when the supply is
partly “receptive” • Remove regenerative braking if line voltage is too high – Turn thyristor TR on – Divert current to RB – Apply rheostatic braking – TR is “self-commutated” MULTIQUADRANT CHOPPER DRIVES • Control Modes
o Forward Power Control (I-Quadrant)
o Forward Regeneration (II-Quadrant) o Reverse Power Control (III-Quadrant) o Reverse Regeneration (IV-Quadrant) FORWARD POWER CONTROL
Q1
T1 & T4 is ON Current Flow : VS + _ T1 _Motor_T4_VS- Current Ia & Va are positive Operates in First Quadrant FORWARD POWER CONTROL (CONT.)
T1 is OFF & T4 is ON. Inductor current has to flow in the same Direction. Diode D1 is FB Inductor Current freewheels through D1 & T4 Output Voltage is Zero FORWARD POWER CONTROL (CONT.)
T4 is OFF. T2 is ON. (Load is not connected with the source).
Back Emf drives the current through T2 & D3 FORWARD REGENERATION
Q2
T2 is OFF. Diode D2 is FB
Current flows through D3 & D1 Current Ia is negative & Va is positive. Operates in second quadrant. REVERSE POWER CONTROL
Q3
T3 & T2 is ON Current Flow : Vdc + _ T3 _Motor_T2_Vdc- Current Ia & Va are negative Operates in third Quadrant REVERSE REGENERATION
Q4
T4 IS Turned Off, D4 is FB
Current Flows through Va+ - D1 – D4 – Va- Va is negative. But current Ia is positive Operates in fourth quadrant
